Local path planning of a mobile robot using genetic algorithm

Rubo Zhang; Guoyin Zhang; Guochang Gu

doi:10.1117/12.317545

12 August 1998 Local path planning of a mobile robot using genetic algorithm

Rubo Zhang, Guoyin Zhang, Guochang Gu

Proceedings Volume 3366, Robotic and Semi-Robotic Ground Vehicle Technology; (1998) https://doi.org/10.1117/12.317545
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

The local path planning of mobile robots can be regarded as finding a mapping from perception space to action space. Genetic algorithm is used to search optimal mapping in this paper so as to improve the obstacle avoidance ability of the robot. In this paper, the rotational angle and translation distance of the robot is divided into seven and four grades respectively. In addition, the length of the path that the robot covers before collision with obstacle is taken as fitness. The robot can learn to carry out local path planning through selection, crossover and mutation in genetic algorithm. The simulation results are given at the and of this paper.

Citation Download Citation

Rubo Zhang, Guoyin Zhang, and Guochang Gu "Local path planning of a mobile robot using genetic algorithm", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); https://doi.org/10.1117/12.317545

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