Path Generation for Mobile Robot using Genetic Algorithm

• KANG Daehee

  Univ. of Tokyo

• HASHIMOTO Hideki

  Univ. of Tokyo

• HARASHIMA Fumio

  Univ. of Tokyo

書誌事項

タイトル別名

• Path Generation for Mobile Robot using

抄録

The shortest/optimal path generation is essential for the efficient operation of mobile robot. This paper will present an algorithm for global path planning to a goal with a mobile robot in an known environment. The algorithm makes use of the modified quadtree data structure to model the environment and uses a genetic algorithm to generate a optimal path for the robot to move. Actually the genetic algorithm consists of two stages, the first stage (named a minor league) checks if a chromosome is reachable to goal position or not, and makes the individuals evolve. And, the only reachable chromosome and the best individuals of them are transferred to the second stage (called a major league) and then are evolved. Finally, the best chromosome of individuals in second stage is survived, so that the optimal/shortest path is generated. It is shown that our proposed method can find out a optimal path very quickly through simulation results.

収録刊行物

• 電気学会論文誌Ｃ（電子・情報・システム部門誌）

  電気学会論文誌Ｃ（電子・情報・システム部門誌） 117 (2), 102-109, 1997

  一般社団法人 電気学会

キーワード

• Genetic Algorithm
• Optimal Path Planning
• Quadtree data structure

詳細情報

• CRID: 1390282679584418688
• NII論文ID: 130006843609
• NII論文ID: 10002809270
• NII書誌ID: AN10065950
• DOI: 10.1541/ieejeiss1987.117.2_102
• ISSN: 13488155
• ISSN: 03854221
• NDL書誌ID: 4128393
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4128393
• Web Site: https://www.jstage.jst.go.jp/article/ieejeiss1987/117/2/117_2_102/_pdf
• 本文言語コード: en
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