NDLI: Dynamic path planning for mobile robot based on genetic algorithm in unknown environment

Content Provider	IEEE Xplore Digital Library
Author	Pu Shi Yujie Cui
Copyright Year	2010
Description	Author affiliation: Department of Automation Engineering, Northeastern University, Qinhuangdao, 066004, China (Pu Shi; Yujie Cui)
Abstract	In this paper, a dynamic path planning scheme based on genetic algorithm (GA) is presented for navigation and obstacle avoidance of mobile robot under unknown environment. The real coding, fitness function and specific genetic operators are devised in the algorithm. The unique coding technique decreases the conventional computational complexity of genetic algorithm. It also speeds up the execution of searching by projecting two dimensional data to one dimensional data, which reduce the size of search space. The fitness function of genetic algorithm takes full consideration of three factors: the collision avoidance path, the shortest distance and smoothness of the path. The specific genetic operators are also selected to make the genetic algorithm more effective. The simulation experiments are made under the VC++ 6.0 environment. The simulation results verify that the genetic algorithm is high effective under various complex dynamic environments.
Starting Page	4325
Ending Page	4329
File Size	528034
Page Count	5
File Format	PDF
ISBN	9781424451814
DOI	10.1109/CCDC.2010.5498349
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile Robot Genetic mutations Genetic Algorithm Path planning Mobile robots Robotics and automation Intelligent robots Biological cells Genetic algorithms Orbital robotics Fuzzy logic Unknown environment Dynamic Path Planning Obstacle Avoidance Fuzzy systems
Content Type	Text
Resource Type	Article

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