Mobile robot path planning by means of case graph and genetic algorithms

Abstract eng:
The aim of the robot path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing length, difficulty and risk of the path. A two-dimensional grid with known static obstacles models the robot environment. When planning a path, the most similar cases (already used paths or their parts) are searched for to be subsequently adapted to the new problem. A genetic algorithm or Dijkstra’s algorithm is used to find the missing parts of the constructed paths or new paths if similar cases are not found or adapted solutions are not good enough.

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