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"
}