Intelligent control based on genetic algorithms case study on mobile robot

In this paper the application of Genetic Algorithms to mobile robot dynamic control and path planning is described. A new genetic strategy GASC: Genetic Algorithm with Symmetric Code, is used in this application. Robot dynamic control based on dynamic model and its path planning are converted into an optimization problem with some constraints, then GASC is employed to solve this problem. In GASC, some new genetic techniques have been put forward. Genetic strategy is employed in robot system's intelligent control. The simulation results obtained show that these techniques are indispensable to enhance the performance of our genetic strategy. GASC our performs the traditional genetic algorithms greatly in control and path planning of a mobile robot. The population of GAs based on Symmetric Codes theory in our genetic strategy can automatically satisfy the velocities constraints at the final point in a robot path.