International Journal of Computational Intelligence Systems

Volume 7, Issue 6, December 2014, Pages 1109 - 1122

Optimal Robot Path Planning for Multiple Goals Visiting Based on Tailored Genetic Algorithm

Authors
Fei Liu, Shan Liang, Xiaodong Xian
Corresponding Author
Fei Liu
Received 13 July 2013, Accepted 13 March 2014, Available Online 1 December 2014.
DOI
10.1080/18756891.2014.963978How to use a DOI?
Keywords
genetic algorithm, mobile robot, optimal path planning, multiple goals visiting, idle time
Abstract

In real applications, mobile robot may be commanded to go to multiple goals to execute special commissions. This study analyzes the particular properties of this multiple goals visiting task and proposes a novel tailored genetic algorithm for optimal path planning for this task. In proposed algorithm, objectives for evaluating the path are energy consumption and idle time that are proposed in our previous work. Under the constraint of energy consumption, it will generate an optimal path that comprises as more goals as possible and as less idle time as possible. In this algorithm, customized chromosome representing a path and genetic operators including , and are developed and implemented. Afterwards, simulations are carried out to verify the effectiveness and applicability. Finally, analysis of simulation results is conducted and future work is addressed.

Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Journal
International Journal of Computational Intelligence Systems
Volume-Issue
7 - 6
Pages
1109 - 1122
Publication Date
2014/12/01
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.1080/18756891.2014.963978How to use a DOI?
Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Fei Liu
AU  - Shan Liang
AU  - Xiaodong Xian
PY  - 2014
DA  - 2014/12/01
TI  - Optimal Robot Path Planning for Multiple Goals Visiting Based on Tailored Genetic Algorithm
JO  - International Journal of Computational Intelligence Systems
SP  - 1109
EP  - 1122
VL  - 7
IS  - 6
SN  - 1875-6883
UR  - https://doi.org/10.1080/18756891.2014.963978
DO  - 10.1080/18756891.2014.963978
ID  - Liu2014
ER  -