Robot Motion Planning Based On Genetic Algorithms

Abstract

The grids are used to express the two dimensional workspace with some obstacles in this paper.The method uses sequence number of grid with right angle coordinate to code for genetic algorithms,rather than the usual binary coding method.The initial chromosomes are generated by using a string of sequence numbers with the corresponding grids not continuous in space but free of obstacles.Increase operator and delete operator to dodge the barriers are presented.Simulation results using Matlab Toolbox show that the method is effective and feasible.