Multi-objective Mobile Robot Path Planning Based on Improved Genetic Algorithm
A multi-objective mobile robot path planning algorithm based on improved genetic algorithm is proposed. The algorithm aims to achieve three kinds of optimization objects for planned paths: length, smoothness and security by introducing the chaotic sequence and heuristic method based on environmental knowledge to initialize population so as to improve the individuals ergodicity and feasibility in the search space. Meanwhile, according to characteristics of path planning, several genetic operators based on domainspecific knowledge are proposed to improve the algorithms efficiency. The computer simulation experiments show that the robot can plan a set of optimized smooth paths which can avoid collision from the start to the target point in environment with many obstacles.
multi-objective optimization genetic algorithm mobile robot path planning
Hu Jun Zhu Qingbao
School of Computer Science & Technology, Nanjing Normal University Jiangsu Research Center of Information Security & Confidential Engineering Nanjing, China
国际会议
长沙
英文
1922-1926
2010-05-11（万方平台首次上网日期，不代表论文的发表时间）