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Planning the optimum path for a mobile robot using genetic algorithm
Source
Issue
Vol. 11, Issue 2 (30 Jun. 2005), pp.429-439, 11 p.
Publisher
University of Baghdad College of Engineering
Publication Date
2005-06-30
Country of Publication
Iraq
No. of Pages
11
Main Subjects
Abstract EN
One aspect of interest in robotics in planning the optimum path for a mobile robot or the optimum trajectory for link movements of a stationary robot in order to increase their efficiency.
The objective of this paper is to identify the sequence of steps and processes needed for construction off-line path planning system using genetic algorithm (as we coined GPPS).
In off-line path planning, the robot is given a map with the location of all obstacles in a given world.
The goal is construct the shortest possible path between a pre-defined start and goal positions and then follow this path without running into the obstacles.
In addition to the three basic genetic operators, a new operator is proposed here which is coined as repair operator.
Repair operator eliminates infeasible path segments and removes path points from nearby obstacles.
However, the shortest possible path resulted from applying genetic operators and repair operator may contain overlapping and redundant segments.
Hence, to eliminate these drawbacks, a new operator is proposed which is coined as enhancement operator.
Eighty experiments are tested on GPPS with different cases.
These cases are taken from different perspectives: number and distribution of obstacles, size of obstacles, and number of experiments per a workspace.
All experiments with these different cases give, as possible, an acceptable feasible path.
American Psychological Association (APA)
Abd al-Halim, Mayada F.. 2005. Planning the optimum path for a mobile robot using genetic algorithm. Journal of Engineering،Vol. 11, no. 2, pp.429-439.
https://search.emarefa.net/detail/BIM-360894
Modern Language Association (MLA)
Abd al-Halim, Mayada F.. Planning the optimum path for a mobile robot using genetic algorithm. Journal of Engineering Vol. 11, no. 2 (Jun. 2005), pp.429-439.
https://search.emarefa.net/detail/BIM-360894
American Medical Association (AMA)
Abd al-Halim, Mayada F.. Planning the optimum path for a mobile robot using genetic algorithm. Journal of Engineering. 2005. Vol. 11, no. 2, pp.429-439.
https://search.emarefa.net/detail/BIM-360894
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 439
Record ID
BIM-360894