MOBILE ROBOT PATH PLANNING BY MEANS OF GENETIC ALGORITHMS

Abstract eng:
In this paper, we deal with mobile robot path planning in a twodimensional 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 start or goal position and changes of environment. Results of computational experiments are presented.

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