LIU Changan, YAN Xiaohu, LIU Chunyang and LI Guodong. Dynamic Path Planning for Mobile Robot Basedon Improved Genetic Algorithm[J]. Chinese Journal of Electronics, 2010, 19(2): 245-248.
Citation: LIU Changan, YAN Xiaohu, LIU Chunyang and LI Guodong. Dynamic Path Planning for Mobile Robot Basedon Improved Genetic Algorithm[J]. Chinese Journal of Electronics, 2010, 19(2): 245-248.

Dynamic Path Planning for Mobile Robot Basedon Improved Genetic Algorithm

  • Received Date: 2009-04-12
  • Rev Recd Date: 2009-06-20
  • Publish Date: 2010-04-05
  • The paper proposes the dynamic path
    planning method of mobile robot based on improved ge-
    netic algorithm. Firstly, to ensure the safety of the robot
    e®ectively, the improved visual graph and the conception
    of safety coe±cient are presented. Secondly, to avoid the
    local optimum, the paper replaces the mutation individual
    with a better individual searched by hill-climbing method.
    To increase the convergence speed, the paper updates the
    colony by the rule of the particle swarm optimization.
    Thirdly, °oat-point coding is proposed in the improved ge-
    netic algorithm. The ¯tness function includes the length
    and the total slope of the path in dynamic path planning.
    Finally, it emulates the dynamic path planning for mobile
    robot based on improved genetic algorithm. From the re-
    sults, it can see that the path planning method is viable
    and e±cient.
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