Mobile Robots Path Planning using Genetic Algorithms

Abstract

In this article, we discuss path optimization to solve the problem of path planning for autonomous mobile robots. We consider the case of constrained environments where the robot is represented as a point. For that, we used an approach based on models of evolution; the genetic algorithms which are an interesting alternative to conventional methods of path planning. A population of paths is obtained firstly using a random distribution strategy. The performance of the proposed Genetic Algorithm based approach is tested on environments with increasing complexity. Through some results, we give a comparison between this strategy and a method based on Lazy A* search. Keywords-path planning; PRM; Genetic algorithms; robotics.