NDLI: Global path planning for mobile robots in large-scale grid environments using genetic algorithms

Content Provider	IEEE Xplore Digital Library
Author	Alajlan, M. Koubaa, A. Chaari, I. Bennaceur, H. Ammar, A.
Copyright Year	2013
Description	Author affiliation: Res. Unit of Sci. & Technol, Al-Imam Mohamed bin Saud Univ., Saudi Arabia (Alajlan, M.; Bennaceur, H.; Ammar, A.) \|\| PRINCE Res. Unit, Univ. of Manouba (ENSI), Manouba, Tunisia (Chaari, I.) \|\| Coll. of Comput. & Inf. Sci., Prince Sultan Univ., Saudi Arabia (Koubaa, A.)
Abstract	Global path planning is considered as a fundamental problem for mobile robots. In this paper, we investigate the capabilities of genetic algorithms (GA) for solving the global path planning problem in large-scale grid maps. First, we propose a GA approach for efficiently finding an (or near) optimal path in the grid map. We carefully designed GA operators to optimize the search process. We also conduct a comprehensive statistical evaluation of the proposed GA approach in terms of solution quality, and we compare it against the well-known A* algorithm as a reference. Extensive simulation results show that GA is able to find the optimal paths in large environments equally to A* in almost all the simulated cases.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1
Ending Page	8
File Size	662469
Page Count	8
File Format	PDF
ISBN	9781479928132
DOI	10.1109/ICBR.2013.6729271
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-15
Publisher Place	Tunisia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sociology Path planning Mobile robots Statistics Biological cells Genetic algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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