Publication detail
Mobile robot path planning by means of genetic algorithms
KRČEK, P. DVOŘÁK, J.
Czech title
Plánování cesty mobilního robotu prostřednictvím genetických algoritmů
English title
Mobile robot path planning by means of genetic algorithms
Type
conference paper
Language
en
Original abstract
In this paper, we deal with mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. The aim of the path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing such criteria as length, difficulty and risk of the path. We investigate possibilities of using genetic algorithms for solving this problem and describe various problem specific genetic operators and fitness functions. We study also an ability of proposed algorithm to adapt a previous solution to changes of environment.
Czech abstract
Tato práce pojednává o plánování cesty mobilního robotu ve dvourozměrném spojitém prostoru, ve kterém jsou definovány známé statické polygonální překážky. Cílem je nalezení cesty z počáteční do cílové pozice bez kolize se známými překážkami tak, aby byla minimalizována taková kritéria jako délka, obtížnost a riziko cesty. Pro řešení tohoto problému zkoumáme možnost použití genetických algoritmů a popisujeme různé problémově specifické operátory a fitness funkce. Studujeme také schopnost adaptace populace navrženého algoritmu na změny v prostředí.
English abstract
In this paper, we deal with mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. The aim of the path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing such criteria as length, difficulty and risk of the path. We investigate possibilities of using genetic algorithms for solving this problem and describe various problem specific genetic operators and fitness functions. We study also an ability of proposed algorithm to adapt a previous solution to changes of environment.
Keywords in Czech
Plánování cesty, genetické algoritmy
Keywords in English
Path planning, Genetic algorithms
RIV year
2007
Released
01.05.2007
Publisher
Institute of Thermomechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague
Location
Praha
ISBN
978-80-87012-06-2
Book
Engineering Mechanics 2007
Pages from–to
133–134
Pages count
2
BIBTEX
@inproceedings{BUT25589,
author="Petr {Krček} and Jiří {Dvořák},
title="Mobile robot path planning by means of genetic algorithms",
booktitle="Engineering Mechanics 2007",
year="2007",
month="May",
pages="133--134",
publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic, v.v.i., Prague",
address="Praha",
isbn="978-80-87012-06-2"
}