A genetic solution for the motion of wheeled robotic systems in dynamic environments

摘要

The work reported in this paper investigates a detailed and sophisticated approach to mobile robot path planning in 3D space involving moving (or disappearing) obstacles, thus accommodating for the concept of intelligent control within a dynamic environment. In addition to reporting the successful results of the genetic planning algorithms, this paper presents an actual implementation utilising the B12 mobile robot, where maps stored through the on-board sonar array are manipulated by the genetic algorithm to present a feasible motion. >