Multi-objective Mobile Robot Path Planning Based on Improved Genetic Algorithm

A multi-objective mobile robot path planning algorithm based on improved genetic algorithm is proposed. The algorithm aims to achieve three kinds of optimization objects for planned paths: length, smoothness and security by introducing the chaotic sequence and heuristic method based on environmental...

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Bibliographic Details
Published in:2010 International Conference on Intelligent Computation Technology and Automation Vol. 2; pp. 752 - 756
Main Authors: Hu Jun, Zhu Qingbao
Format: Conference Proceeding
Language:English
Published: IEEE 01.05.2010
Subjects:
Chaos
Computer science
Computer simulation
genetic algorithm
Genetic algorithms
Information security
Intelligent robots
mobile robot
Mobile robots
multi-objective optimization
Optimization methods
Path planning
Robotics and automation
ISBN:9781424472796, 1424472792
Online Access:Get full text
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Summary:A multi-objective mobile robot path planning algorithm based on improved genetic algorithm is proposed. The algorithm aims to achieve three kinds of optimization objects for planned paths: length, smoothness and security by introducing the chaotic sequence and heuristic method based on environmental knowledge to initialize population so as to improve the individuals' ergodicity and feasibility in the search space. Meanwhile, according to characteristics of path planning, several genetic operators based on domain-specific knowledge are proposed to improve the algorithm's efficiency. The computer simulation experiments show that the robot can plan a set of optimized smooth paths which can avoid collision from the start to the target point in environment with many obstacles.
ISBN:9781424472796
1424472792
DOI:10.1109/ICICTA.2010.300