Path planning for robot using Population-Based Incremental Learning

摘要

Recently, genetic algorithms (GAs) have attracted great interest owing to efficiency and flexibility against complex robot path planning problems. To accelerate the convergence speed, preceding researches adapted conventional GAs by using problem-specific techniques. However, such approaches increase computational burden and algorithmic complexity, resulting in subsequent additional problems. In this paper, we used Population-Based Incremental Learning (PBIL) algorithm for robot path planning as a probabilistic evolutionary approach. In addition to PBIL, we also proposed the probabilistic model of nodes and the edge bank to generate promising paths. The experimental results demonstrate that the proposed method gave markedly better performance than its conventional counter-parts(GA,kGA,fGA) in terms of success rates and the quality of obtained paths.