Waypoint-based path planner for Mobile Robot Navigation using PSO and GA-AIS

Author

Ragavan, S. Veera ; Ponnambalam, S.G. ; Sumero, Cony

Author_Institution

Sch. of Eng., Monash Univ., Bandar Sunway, Malaysia

fYear

2011

fDate

22-24 Sept. 2011

Firstpage

756

Lastpage

760

Abstract

Service Robotic application deployments have taken a giant leap in complexity. They have been successfully deployed in wide range of applications from NASA Mars Rovers to domestic lawn mowers. Waypoint Navigation Systems (WNS) can now be used as an alternate Mobile Robot Navigation (MRN) technique with advances in Global Positioning Systems (GPS) and Global Information systems (GIS).Regardless of the application, the path planning and navigation has remained an important part of Mobile Robot application development. This paper presents two optimization algorithms to solve Path Planning Problem for Robot Navigation. The Particle Swarm Optimization (PSO) and Genetic Algorithm - Artificial Immune System (GA-AIS) were developed and implemented for the path optimization (shortest route) and the behavior of these two algorithms has been compared.

Keywords

Global Positioning System; Mars; artificial immune systems; genetic algorithms; mobile robots; path planning; planetary rovers; service robots; GA-AIS; NASA Mars rovers; PSO; artificial immune system; domestic lawn mowers; genetic algorithm; global information systems; global positioning systems; mobile robot navigation; optimization algorithms; particle swarm optimization; service robotic application deployments; waypoint navigation systems; waypoint-based path planner; Biological cells; Encoding; Genetic algorithms; Mobile robots; Navigation; Optimization; Path planning; AIS; GA; GA-AIS; Mobile Robot Navigation (MRN); Path Planning; Robot Navigation; Waypoint Navigation Systems (WNS); Waypoints;

fLanguage

English

Publisher

ieee

Conference_Titel

Recent Advances in Intelligent Computational Systems (RAICS), 2011 IEEE

Conference_Location

Trivandrum

Print_ISBN

978-1-4244-9478-1

Type

conf

DOI

10.1109/RAICS.2011.6069411

Filename

6069411