Global Optimal Path Planning for Mobile Robots Based on Hybrid Approach with High Diversity and Memorization View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2011

AUTHORS

Yun-Qian Miao , Alaa Khamis , Fakhreddine O. Karray , Mohamed S. Kamel

ABSTRACT

This paper presents a hybrid approach to the path planning problem of autonomous robots that combines potential field (PF) method and genetic algorithm (GA). The proposed PF+GA approach takes the strength of both potential field and genetic algorithm to find global optimal collision-free paths. In this integrated frame, the PF is designed as gradient-based searching strategy to exploit local optimal, and the GA is used to explore over the whole problem space. Different implementation strategies are examined through simulations in 2D scenarios. The conducted experiments show that global optimal path can be achieved effectively using the proposed approach with a strategy of high diversity and memorization. More... »

PAGES

1-10

References to SciGraph publications

  • 1991. Robot Motion Planning in NONE
  • Book

    TITLE

    Autonomous and Intelligent Systems

    ISBN

    978-3-642-21537-7
    978-3-642-21538-4

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-642-21538-4_1

    DOI

    http://dx.doi.org/10.1007/978-3-642-21538-4_1

    DIMENSIONS

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