Genetic algorithms for adaptive motion planning of an autonomous mobile robot

被引：92
|
作者：
Sugihara, K
Smith, J
机构：
来源：
1997 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION - CIRA '97, PROCEEDINGS: TOWARDS NEW COMPUTATIONAL PRINCIPLES FOR ROBOTICS AND AUTOMATION | 1997年
关键词：
D O I：
10.1109/CIRA.1997.613850
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Oar GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and on-line motion planning. We first presents a GA for path planning in a 20 terrain. Simulation results on the performance and adaptivity of the GA on randomly generated terrains are presented. Then, we discuss extensions of the GA for solving both path planning and trajectory planning simultaneously.
引用
收藏
页码：138 / 143
页数：6
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