文章基本信息

标题：Dynamic Path Planning Algorithm for a Mobile Robot Based on Visible Space and an Improved Genetic Algorithm
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作者：Xiaolei Zhang ; Yan Zhao ; Nianmao Deng and Kai Guo 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
DOI：10.5772/63484
语种：English
出版社：SAGE Publications
摘要：In this study, a series of new concepts and improved genetic operators of a genetic algorithm (GA) was proposed and applied to solve mobile robot (MR) path planning problems in dynamic environments. The proposed method has two superiorities: fast convergence towards the global optimum and the feasibility of all solutions in the population. Path planning aims to provide an optimal path from a starting location to a target location, preventing collision or so-called obstacle avoidance. Although GAs have been widely used in optimization problems and can obtain good results, conventional GAs have some weaknesses in an obstacle environment, such as infeasible paths. The main ideas in this paper are visible space, matrix coding and new mutation operators. In order to demonstrate the superiority of this method, three different obstacle environments have been used and an experiment is conducted. This algorithm is effective in both static and dynamic environments.
关键词：Visible Space; Genetic Algorithm; Matrix Encoding; Mutation; Chromosome Modification; Path Planning