Collision-Free Composite ?3–Splines Generation for Nonholonomic Mobile Robots by Parallel Variable-Length Genetic Algorithm

摘要

A G <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -continuous path planner for wheeled non-holonomic mobile robots is presented, where the path is a composite curve composed of a number of eta <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -splines segments. Based on the variable-length genetic algorithm implemented in the architecture of island parallel genetic algorithm (IPGA), the path planner automatically selects the number and locations of an ordered sequence of intermediate nodes aiming for collision-free shorter composite eta <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -spline path generation. The experimental result demonstrates the capability of the proposed evolutionary path planner.