A New Genetic Algorithm Approach to Smooth Path Planning for Mobile Robots
نویسندگان
چکیده
In this paper, the smooth path planning problem is considered for a mobile robot based on the genetic algorithm and the Bezier curve. The workspace of a mobile robot is described by a new grid-based representation (2 × 2n grids) that facilitates the operations of the adopted genetic algorithm. The chromosome of the genetic algorithm is composed of a sequence of binary numbered grids (i.e., control points of the Bezier curve). Ordinary genetic operators including crossover and mutation are used to search the optimum chromosome where the optimization criterion is the length of a piecewise collision-free Bezier curve path determined by the control points. A numerical experiment is given to demonstrate the effectiveness of the proposed smooth path planning approach for a mobile robot.
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