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

Han Dong Zhang, Bao Hua Dong, Yu Wan Cen, Rui Zheng, Shuji Hashimoto, Ryo Saegusa

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    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 languageEnglish
    Title of host publicationProceedings - Third International Conference on Natural Computation, ICNC 2007
    Pages351-356
    Number of pages6
    Volume4
    DOIs
    Publication statusPublished - 2007
    Event3rd International Conference on Natural Computation, ICNC 2007 - Haikou, Hainan
    Duration: 2007 Aug 242007 Aug 27

    Other

    Other3rd International Conference on Natural Computation, ICNC 2007
    CityHaikou, Hainan
    Period07/8/2407/8/27

    ASJC Scopus subject areas

    • Applied Mathematics
    • Computational Mathematics
    • Modelling and Simulation

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  • Cite this

    Zhang, H. D., Dong, B. H., Cen, Y. W., Zheng, R., Hashimoto, S., & Saegusa, R. (2007). Path planning algorithm for mobile robot based on path grids encoding novel mechanism. In Proceedings - Third International Conference on Natural Computation, ICNC 2007 (Vol. 4, pp. 351-356). [4344698] https://doi.org/10.1109/ICNC.2007.545