Cart (Loading....) | Create Account
Close category search window
 

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.