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Generating minimax-curvature and shorter η3-spline path using multi-objective variable-length genetic algorithm

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

As a continuing work on G3-continuous path planning for nonholonomic wheeled unicycle-type nonholo-nomic mobile robot in the predefined static environment, this paper accounts for a multi-objective path optimization problem that directly incorporates the objectives of simultaneously minimizes the total path length and the maximum curvature along the path. Using easily customized variable-length Island-based Parallel Genetic Algorithm (IPGA) as a path computing framework and η3-splines as the path primitive for waypoint interpolation, a multi-objective genetic algorithm is implemented to find and optimize multiple collision-free paths to obtain a G3-continuous composite η3-spline path with each η3-spline segment shorter and a larger minimum turning radius along the whole path. By comparing with the corresponding single-objective implementation, the experimental result demonstrates the effectiveness of the evolutionary multi-objective path planner in finding paths of more practical value in complex environments.

Published in:

Networking, Sensing and Control (ICNSC), 2010 International Conference on

Date of Conference:

10-12 April 2010