Title :
Path planning algorithm for mobile robot obstacle avoidance adopting Bezier curve based on Genetic Algorithm
Author :
Linquan, Yang ; Luo Zhongwen ; Zhonghua, Tang ; Weixian, Lv
Author_Institution :
Fac. of Inf. Eng., China Univ. of Geosci., Wuhan
Abstract :
Combining the Genetic Algorithm and Bezier curve, a new path planning for mobile robot is presented. This path replaces the traditional broken lines with smooth Bezier curve. Therefore it can satisfy the non-holonomic constraints of two-wheel-robot model and serves also the mobile robot rather ideal acceleration. Then it searches the optimal time-cost for control points of Bezier that stands for the path with Genetic Algorithm. The fitness function of Genetic Algorithm takes 3 factors that influence the moving time of robot seriously: security, length and smoothness of the path. The results of simulation and real competitions showed its good effectiveness.
Keywords :
collision avoidance; cost optimal control; genetic algorithms; mobile robots; time optimal control; control point; fitness function; genetic algorithm; mobile robot; nonholonomic constraint; obstacle avoidance; optimal time-cost; path length; path planning algorithm; path security; path smoothness; smooth Bezier curve; two-wheel-robot model; Data models; Polynomials; Bezier Curve; Genetic Algorithm; Path Planning; Robot Soccer;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
DOI :
10.1109/CCDC.2008.4597937
