Collision-Free Composite ?3–Splines Generation for Nonholonomic Mobile Robots by Parallel Variable-Length Genetic Algorithm

A G³-continuous path planner for wheeled non-holonomic mobile robots is presented, where the path is a composite curve composed of a number of eta³-splines segments. Based on the variable-length genetic algorithm implemented in the architecture of island parallel genetic algorithm (IPGA), the path planner automatically selects the number and locations of an ordered sequence of intermediate nodes aiming for collision-free shorter composite eta³-spline path generation. The experimental result demonstrates the capability of the proposed evolutionary path planner.