NDLI: A comparative study of smooth path planning for a mobile robot by evolutionary multi-objective optimization

Content Provider	IEEE Xplore Digital Library
Author	Kao-Ting Hung Jing-Sin Liu Yau-Zen Chang
Copyright Year	2007
Description	Author affiliation: Acad. Sinica, Taipei (Kao-Ting Hung; Jing-Sin Liu)
Abstract	This paper studies the evolutionary planning strategies for mobile robots to move smoothly along efficient collision-free paths in known static environments. The cost of each candidate path is composed of the path length and a weighted sum of penetration depth to vertices of polygonal obstacles. The path is composed of a pre-specified number of cubic spiral segments with constrained curvature. Comparison of the path planning performance between two Pareto-optimal schemes, the parallel genetic algorithm scheme based on the island method (PGA) and the non-dominated sorting genetic algorithm (NSGA-II), are conducted in terms of success rate in separate runs and path length whenever collision-free paths are found. Numerical simulation results are presented for three types of obstacles: polygons, walls, and combinations of both.
Starting Page	254
Ending Page	259
File Size	361670
Page Count	6
File Format	PDF
ISBN	1424407893
DOI	10.1109/CIRA.2007.382857
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Genetic algorithms Spirals Electronics packaging Cost function Sorting Computational intelligence Robotics and automation USA Councils
Content Type	Text
Resource Type	Article

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