Global Path Planning for Autonomous Mobile Robot Using Genetic Algorithm

摘要

Mobile robots work in different kinds of environment, and it is necessary for them to move and maneuver in places with objects and obstacles. In order to navigate the robot in a collision free path, path planning algorithms have been presented. The main goal of path planning is to determine the optimal possible path between the initial point and the defined goal position in the minimal possible time. In this work, a path planning method by utilizing genetic algorithm (GA) is presented. The optimized path in terms of length and cost is generated by GA optimization. The proposed method is a global path planning method with hexagonal grid map modelling. It reads the map of the environment and plans the optimized path by using GA method simulated in MATLAB R2012b software. The simulation results are presented and analyzed.