Genetic Algorithms for Adaptive Planning of Path and Trajectory of a Mobile Robot in 2D Terrains

摘要

Introduction Motion planning [7], [9] isone of important tasks in inte -zq:D t control of an autonomousmobile robot. It isofte deefi ose into path planning and trajezq#D planning, althoughthe are notinde ede t ofeq h otheD PUP planning is togeFWFq# acollision-fre path in an evironme t withobstacle andoptimize it with ret e tosome crite0q:F An algorithm for path planning is said to be o#-line ifthe e vironme t is a known static teticz and itgeFS#:Nz a path in advance It is said to be on-line if it iscapable of producing ane path inre: onse to evironme tal changeq Trajectory planning is to scheFFN the moveF: t of amobile robot alongthe planne path. Theh have beF a numbe r ofmefiq ds prop ose for motion planning of amobile robot [7]. Howe veq fe algorithms have beF de e# e foron-line motion planning of amobile robot in atimeW arying or unknownte::WDz In this pap ep we addreF adaptive mo