Research on Application of Genetic Algorithm for Intelligent Mobile Robot Navigation Based on Dynamic Approach

Author

Yang, Shiqiang ; Fu, Weiping ; Li, Dexin ; Wang, Wen

Author_Institution

Xi ´´an Univ. of Technol., Xian

fYear

2007

fDate

18-21 Aug. 2007

Firstpage

898

Lastpage

902

Abstract

An intelligent mobile robot navigation model based on dynamic approach is constructed, which is integrated both head-for-target behavior and obstacle avoidance behavior. The model is described by nonlinear differential equations. It is based on the stability theory of dynamical system. The weight coefficient of each behavior which represents superiority in competition between behaviors is optimized by genetic algorithm. Navigation of mobile robot based on this model is simulated in computer. And the feasibility of genetic algorithm application for intelligent mobile robot navigation is examined. The results indicate that genetic algorithm integrates well with the dynamic approach for intelligent mobile robot navigating.

Keywords

collision avoidance; genetic algorithms; mobile robots; nonlinear differential equations; stability; time-varying systems; dynamical system; genetic algorithm; head-for-target behavior; intelligent mobile robot navigation; nonlinear differential equations; obstacle avoidance behavior; stability theory; Application software; Computational modeling; Computer simulation; Differential equations; Genetic algorithms; Intelligent robots; Mobile robots; Navigation; Nonlinear dynamical systems; Stability; GA; Intelligent Mobile Robot; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2007 IEEE International Conference on

Conference_Location

Jinan

Print_ISBN

978-1-4244-1531-1

Type

conf

DOI

10.1109/ICAL.2007.4338693

Filename

4338693