A Genetic Algorithm for 3-D Path Planning of a Mobile Robot
نویسندگان
چکیده
This paper proposes a genetic algorithm (GA) for path planning of an autonomous mobile robot in the 3-D space which is modeled with a grid structure. We present a GA for 2-D path planning and then generalize it to 3-D path planning. Some simulation results are also presented. The GA has two unique features. First, the dimension has only small e ect on time and space requirements. Second, it is adaptive so that the GA works even if an environment is time-varying or unknown. Therefore, the GA is suitable for both o line and on-line path planning of an autonomous underwater vehicle.
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