Autonomous local path planning for a mobile robot using a genetic algorithm

被引：103
|
作者：
Sedighi, KH [1 ]
Ashenayi, K [1 ]
Manikas, TW [1 ]
Wainwright, RL [1 ]
Tai, HM [1 ]
机构：
[1] Univ Tulsa, Dept Elect Engn & Comp Sci, Tulsa, OK 74104 USA
来源：
CEC2004: PROCEEDINGS OF THE 2004 CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1 AND 2 | 2004年
关键词：
D O I：
10.1109/CEC.2004.1331052
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents results of our work in development of a genetic algorithm based path-planning algorithm for local obstacle avoidance (local feasible path) of a mobile robot in a given search space. The method tries to find not only a valid path but also an optimal one. The objectives are to minimize the length of the path and the number of turns. The proposed path-planning method allows a free movement of the robot in any direction so that the path-planner can handle complicated search spaces.
引用
收藏
页码：1338 / 1345
页数：8
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