遺伝的アルゴリズムを用いたリアルタイム経路プラニング

概要

論文の詳細を見る
In this paper, a new approach to solve an autonomous vehicle path planning problem is presented. Many of the current approach in this area involve creation of an explicit world model and effective search of optimal path in this model. One such world model decomposes space into a unique or hierarchical grid, and a classical search algorithm such as A searches the optimum path in the world model. Although this world decomposition provides efficient representation of space, it takes exponential computational cost corresponding to the size of space to search the optimal one. Addition to that, paths generated by planning systems operating within such representations tend to suffer from stair-stepping effects. Stair-stepping effect is a result of loss of space continuity resulting from decomposition of space into a grid, and it increases the complexity of vehicle guidance. This paper presents a path planning algorithm which can generate smooth paths that eliminates stair-stepping effect within a real-time. The algorithm is based on genetic algorithm, and can apply to various planning problems that require real-time planning capability in a dynamic domain.
社団法人人工知能学会の論文
1995-01-01