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Mobile robot path planning with η3-splines using spatial-fitness-sharing variable-length genetic algorithm

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2 Author(s)
Jiun-Hau Wei ; Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan ; Jing-Sin Liu

This paper presents a novel evolutionary G3-continuous (continuous-differentiable curvature) path planner for nonholonomic wheeled mobile robots. The evolutionary path planner generates intermediate configurations connected via η3-splines that yields a collision-free G3-continuous path, which each point on the path has a closed-form expression. The path planner is implemented as architecture of island parallel genetic algorithm (IPGA) running a variable-length genetic algorithm in each island. The techniques of spatial fitness-sharing in search space and a crowded measure of generated paths are integrated in the planner to implement a high-diversity evolutionary optimizer of paths that could self-adjust the spacing and number of intermediate configurations. The experimental result demonstrates the robustness and self-adjusting capability of evolutionary path planner in discovering shorter and smoother composite η3-splines paths in complex environments.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009