Using Genetic Algorithm for a Mobile Robot Path Planning

摘要

Mobile robot global path planning in a static environment is an important problem. This paper proposes a method of global path planning based on genetic algorithm to reach an optimum path for mobile robot with obstacle avoidance. In this method for decreasing the complexity, the two-dimensional coding for the path via-points was converted to one-dimensional coding and the fitness of both of the collision avoidance path and the shortest distance are integrated into a fitness function. The simulation results shows that the proposed method is accurate and effective.