Title :
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
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;
Conference_Titel :
Recent Advances in Intelligent Computational Systems (RAICS), 2011 IEEE
Conference_Location :
Trivandrum
Print_ISBN :
978-1-4244-9478-1
DOI :
10.1109/RAICS.2011.6069411
