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

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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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  -