Genetic Algorithms for Adaptive Planning of Path and Trajectory of a Mobile Robot in 2D Terrains

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概要

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• This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobite robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and on-line motion planning. We first presents a GA for path planning in a 2D terrain. Simulation results on the performance and adaptivity of the GA on randomly generated terrains are shown. Then, we discuss an extension of the GA for solving both path planning and trajectory planning simultaneously.

• 社団法人電子情報通信学会の論文
• 1999-01-25

著者

• Smith John

  Department Of Information And Computer Sciences The University Of Hawaii At Manoa

• Smith John

  Department Of Immunology Harefield Hospital

• Sugihara Kazuo

  Department Of Information And Computer Sciences The University Of Hawaii At Manoa

• Sugihara Kazuo

  Department of Industrial Chemistry, Faculty of Engineering, Miyazaki University

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