Detail publikačního výsledku

Using Genetic Algorithms for Mobile Robot Path Planning

DVOŘÁK, J.; KRČEK, P.

Originální název

Using Genetic Algorithms for Mobile Robot Path Planning

Anglický název

Using Genetic Algorithms for Mobile Robot Path Planning

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

In this paper, we deal with mobile robot path planning in two-dimensional continuous space in which known static polygonal obstacles are defined. The aim of the path planning is finding a path from a start to a goal position without collisions with known obstacles minimizing an evaluation function. We investigate the possibilities of using genetic algorithms for solving this problem and describe various problem-specific genetic operators and fitness functions. We study also the ability of the proposed algorithm to adapt a previous solution to changes of start and/or goal positions and changes in the environment. Results of computational experiments are presented.

Anglický abstrakt

In this paper, we deal with mobile robot path planning in two-dimensional continuous space in which known static polygonal obstacles are defined. The aim of the path planning is finding a path from a start to a goal position without collisions with known obstacles minimizing an evaluation function. We investigate the possibilities of using genetic algorithms for solving this problem and describe various problem-specific genetic operators and fitness functions. We study also the ability of the proposed algorithm to adapt a previous solution to changes of start and/or goal positions and changes in the environment. Results of computational experiments are presented.

Klíčová slova

mobile robot; path planning; genetic algorithms

Klíčová slova v angličtině

mobile robot; path planning; genetic algorithms

Autoři

DVOŘÁK, J.; KRČEK, P.

Rok RIV

2010

Vydáno

01.06.2008

Nakladatel

FME BUT

Místo

Brno

ISBN

978-80-214-3675-6

Kniha

Proceedings of the 14th International Conference on Soft Computing MENDEL 2008

Strany od

32

Strany do

37

Strany počet

6

BibTex

@inproceedings{BUT33207,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Using Genetic Algorithms for Mobile Robot Path Planning",
  booktitle="Proceedings of the 14th International Conference on Soft Computing MENDEL 2008",
  year="2008",
  number="1",
  pages="32--37",
  publisher="FME BUT",
  address="Brno",
  isbn="978-80-214-3675-6"
}