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

*この研究の対応する著者

    研究成果: Conference contribution

    3 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings - Third International Conference on Natural Computation, ICNC 2007
    ページ351-356
    ページ数6
    4
    DOI
    出版ステータスPublished - 2007
    イベント3rd International Conference on Natural Computation, ICNC 2007 - Haikou, Hainan
    継続期間: 2007 8 242007 8 27

    Other

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

    ASJC Scopus subject areas

    • 応用数学
    • 計算数学
    • モデリングとシミュレーション

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