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Path planning of a mobile robot using genetic heuristics

Published online by Cambridge University Press:  01 September 1998

Andreas C. Nearchou
Andreas C. Nearchou
Affiliation:
Mechanical Engineering Department, University of Patras, 26 110 Patras, Greece. E-mail: nearchou@upatras.gr
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Abstract

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A genetic algorithm for the path planning problem of a mobile robot which is moving and picking up loads on its way is presented. Assuming a findpath problem in a graph, the proposed algorithm determines a near-optimal path solution using a bit-string encoding of selected graph vertices. Several simulation results of specific task-oriented variants of the basic path planning problem using the proposed genetic algorithm are provided. The results obtained are compared with ones yielded by hill-climbing and simulated annealing techniques, showing a higher or at least equally well performance for the genetic algorithm.

Keywords

Path planningMobile robotGenetic heuristicsLoad picking
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 575 - 588
Copyright
© 1998 Cambridge University Press