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Path planning of mobile robot using integer GA with considering terrain conditions

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3 Author(s)
Mansouri, M. ; Departeman of Electr. Eng., K.N. Toosi Univ. of Technol., Tehran ; Shoorehdeli, M.A. ; Teshnehlab, M.

In this study integer genetic algorithm is applied for path planning of mobile robot in the grid form environment. The novel representation is proposed for definition of chromosome which reduced the computational complexity of genetic algorithm that was used before for path planning. Comparison with other encoding of chromosome is done to show the capability of proposed algorithm. Mamadani fuzzy rule is used to describe difficulty of passing from cells which are sandy or have slope.

Published in:

Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on

Date of Conference:

12-15 Oct. 2008