Research of Mobile Robot Path Planning Based on Genetic Algorithm

DOI

10.2991/itoec-16.2016.67How to use a DOI?

Keywords

Mobile robot; Genetic algorithm; Cyclotron curve Smooth; Path planning

Abstract

Path planning is an important task in the field of robot. A new method of dividing genetic algorithm(GA) process is proposed,which is different from the traditional method that considers smoothness in GA process. After calculating a path using simplified GA method with a variable length coding, a new type of clothoid curve with wipe parameter is introduced to smooth the sharp turns. In the entire path planning process, the parameter can be chosen adaptively to generate a robot's walk path as soon as the barrier's coordinate is entered. The simulation results show that the method of separating smooth process from GA process simplifies GA method.The proposed method could efficiently decrease the path length as well as increase the path smoothness.

Copyright

© 2016, 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  - CONF
AU  - Jian Zhang
PY  - 2016/05
DA  - 2016/05
TI  - Research of Mobile Robot Path Planning Based on Genetic Algorithm
BT  - Proceedings of the 2nd Information Technology and Mechatronics Engineering Conference (ITOEC 2016)
PB  - Atlantis Press
SP  - 354
EP  - 360
SN  - 2352-5401
UR  - https://doi.org/10.2991/itoec-16.2016.67
DO  - 10.2991/itoec-16.2016.67
ID  - Zhang2016/05
ER  -