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Safety considerations in the optimisation of paths for mobile robots using genetic algorithms

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2 Author(s)
Mingwu Chen ; Sheffield Univ., UK ; Zalzala, A.M.S.

This paper presents a genetic-based approach to mobile robot motion planning with a distance-safety criterion. A wave front method is used to build the numerical potential fields for both the goal points and the obstacles by representing the workspace as a grid. A computationally efficient genetic algorithm is proposed to search for near optimal paths, where a combined global and local optimisation approach is employed to speed up the search process while considering the imposed requirements. Various simulation results show the effectiveness of the presented algorithm, including a comparison with the A* method

Published in:

Genetic Algorithms in Engineering Systems: Innovations and Applications, 1995. GALESIA. First International Conference on (Conf. Publ. No. 414)

Date of Conference:

12-14 Sep 1995