Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots

Woong Gie Han; Seung Min Baek; Tae Yong Kuc

Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots

Woong Gie Han
, Seung Min Baek
, Tae Yong Kuc

Department of Electronic and Electrical Engineering

Sungkyunkwan University

Research output: Contribution to journal › Conference article › peer-review

65 Scopus citations

Abstract

A simple path planning scheme is proposed for navigation of mobile robots while avoiding obstacles. In generating the goal directed dynamic path, the path panning scheme uses a genetic search algorithm whose coding technique speeds up the execution of genetic search for fast path generation. The fitness value of the generated paths is evaluated in terms of the safety from the obstructing dynamic objects and the distance to the goal position by the genetic algorithm. The execution time of genetic search is further accelerated by projecting the two dimensional data to one dimensional ones to reduce the size of search space.

Original language	English
Pages (from-to)	2747-2751
Number of pages	5
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	3
State	Published - 1997
Event	Proceedings of the 1997 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - Orlando, FL, USA Duration: 12 Oct 1997 → 15 Oct 1997

Cite this

@article{35977f107f2f40cfbc9b6a26ce61041e,

title = "Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots",

abstract = "A simple path planning scheme is proposed for navigation of mobile robots while avoiding obstacles. In generating the goal directed dynamic path, the path panning scheme uses a genetic search algorithm whose coding technique speeds up the execution of genetic search for fast path generation. The fitness value of the generated paths is evaluated in terms of the safety from the obstructing dynamic objects and the distance to the goal position by the genetic algorithm. The execution time of genetic search is further accelerated by projecting the two dimensional data to one dimensional ones to reduce the size of search space.",

author = "Han, \{Woong Gie\} and Baek, \{Seung Min\} and Kuc, \{Tae Yong\}",

year = "1997",

language = "English",

volume = "3",

pages = "2747--2751",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) ; Conference date: 12-10-1997 Through 15-10-1997",

}

TY - JOUR

T1 - Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots

AU - Han, Woong Gie

AU - Baek, Seung Min

AU - Kuc, Tae Yong

PY - 1997

Y1 - 1997

N2 - A simple path planning scheme is proposed for navigation of mobile robots while avoiding obstacles. In generating the goal directed dynamic path, the path panning scheme uses a genetic search algorithm whose coding technique speeds up the execution of genetic search for fast path generation. The fitness value of the generated paths is evaluated in terms of the safety from the obstructing dynamic objects and the distance to the goal position by the genetic algorithm. The execution time of genetic search is further accelerated by projecting the two dimensional data to one dimensional ones to reduce the size of search space.

AB - A simple path planning scheme is proposed for navigation of mobile robots while avoiding obstacles. In generating the goal directed dynamic path, the path panning scheme uses a genetic search algorithm whose coding technique speeds up the execution of genetic search for fast path generation. The fitness value of the generated paths is evaluated in terms of the safety from the obstructing dynamic objects and the distance to the goal position by the genetic algorithm. The execution time of genetic search is further accelerated by projecting the two dimensional data to one dimensional ones to reduce the size of search space.

UR - https://www.scopus.com/pages/publications/0031351326

M3 - Conference article

AN - SCOPUS:0031351326

SN - 0884-3627

VL - 3

SP - 2747

EP - 2751

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - Proceedings of the 1997 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5)

Y2 - 12 October 1997 through 15 October 1997

ER -

Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots

Abstract

Other files and links

Fingerprint

Cite this