### Abstract

Novel fixed-length decimal encoding mechanism is proposed, which is for techniques of path planning of mobile robot based on an improved genetic algorithm. Effective path grids are adopted to identify the robot's motion surrounding. The obstacles can be described as polygons based on the given grids. The only Vertexes of every obstacles polygon have corresponding unique decimal series value by the intersection of the grids. Then the planning paths of the mobile robot are encoded into decimal encode string, which equals to the sum of the numbers of all effective Vertexes of polygons in path grids. In the chromosome, the decimal value of each nonzero bit is the code of vertex about corresponding obstacle for the path planning. The sequence of Vertexes in a chromosome is that in the planning path. Such an encoding manner has the excellent adaptation for fixed-length decimal encoding mechanism; it also easily overcomes the trap of obstacles in path planning algorithm. The algorithm makes the path planning more simple and effective, and speeds up convergent speed of the algorithm. Numerical simulation to the problem shows the efficiency of the proposed algorithm.

Original language | English |
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Title of host publication | Proceedings - Third International Conference on Natural Computation, ICNC 2007 |

Pages | 351-356 |

Number of pages | 6 |

Volume | 4 |

DOIs | |

Publication status | Published - 2007 |

Event | 3rd International Conference on Natural Computation, ICNC 2007 - Haikou, Hainan Duration: 2007 Aug 24 → 2007 Aug 27 |

### Other

Other | 3rd International Conference on Natural Computation, ICNC 2007 |
---|---|

City | Haikou, Hainan |

Period | 07/8/24 → 07/8/27 |

### Fingerprint

### ASJC Scopus subject areas

- Applied Mathematics
- Computational Mathematics
- Modelling and Simulation

### Cite this

*Proceedings - Third International Conference on Natural Computation, ICNC 2007*(Vol. 4, pp. 351-356). [4344698] https://doi.org/10.1109/ICNC.2007.545

**Path planning algorithm for mobile robot based on path grids encoding novel mechanism.** / Zhang, Han Dong; Dong, Bao Hua; Cen, Yu Wan; Zheng, Rui; Hashimoto, Shuji; Saegusa, Ryo.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings - Third International Conference on Natural Computation, ICNC 2007.*vol. 4, 4344698, pp. 351-356, 3rd International Conference on Natural Computation, ICNC 2007, Haikou, Hainan, 07/8/24. https://doi.org/10.1109/ICNC.2007.545

}

TY - GEN

T1 - Path planning algorithm for mobile robot based on path grids encoding novel mechanism

AU - Zhang, Han Dong

AU - Dong, Bao Hua

AU - Cen, Yu Wan

AU - Zheng, Rui

AU - Hashimoto, Shuji

AU - Saegusa, Ryo

PY - 2007

Y1 - 2007

N2 - Novel fixed-length decimal encoding mechanism is proposed, which is for techniques of path planning of mobile robot based on an improved genetic algorithm. Effective path grids are adopted to identify the robot's motion surrounding. The obstacles can be described as polygons based on the given grids. The only Vertexes of every obstacles polygon have corresponding unique decimal series value by the intersection of the grids. Then the planning paths of the mobile robot are encoded into decimal encode string, which equals to the sum of the numbers of all effective Vertexes of polygons in path grids. In the chromosome, the decimal value of each nonzero bit is the code of vertex about corresponding obstacle for the path planning. The sequence of Vertexes in a chromosome is that in the planning path. Such an encoding manner has the excellent adaptation for fixed-length decimal encoding mechanism; it also easily overcomes the trap of obstacles in path planning algorithm. The algorithm makes the path planning more simple and effective, and speeds up convergent speed of the algorithm. Numerical simulation to the problem shows the efficiency of the proposed algorithm.

AB - Novel fixed-length decimal encoding mechanism is proposed, which is for techniques of path planning of mobile robot based on an improved genetic algorithm. Effective path grids are adopted to identify the robot's motion surrounding. The obstacles can be described as polygons based on the given grids. The only Vertexes of every obstacles polygon have corresponding unique decimal series value by the intersection of the grids. Then the planning paths of the mobile robot are encoded into decimal encode string, which equals to the sum of the numbers of all effective Vertexes of polygons in path grids. In the chromosome, the decimal value of each nonzero bit is the code of vertex about corresponding obstacle for the path planning. The sequence of Vertexes in a chromosome is that in the planning path. Such an encoding manner has the excellent adaptation for fixed-length decimal encoding mechanism; it also easily overcomes the trap of obstacles in path planning algorithm. The algorithm makes the path planning more simple and effective, and speeds up convergent speed of the algorithm. Numerical simulation to the problem shows the efficiency of the proposed algorithm.

UR - http://www.scopus.com/inward/record.url?scp=38049089864&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=38049089864&partnerID=8YFLogxK

U2 - 10.1109/ICNC.2007.545

DO - 10.1109/ICNC.2007.545

M3 - Conference contribution

AN - SCOPUS:38049089864

SN - 0769528759

SN - 9780769528755

VL - 4

SP - 351

EP - 356

BT - Proceedings - Third International Conference on Natural Computation, ICNC 2007

ER -