Title :
Autonomous robot navigation system using a novel value encoded genetic algorithm
Author :
Geisler, Thomas ; Manikas, Theodore W.
Author_Institution :
Dept. of Electr. Eng., Tulsa Univ., OK, USA
Abstract :
This paper describes the development of a genetic algorithm (GA) based path-planning software for local obstacle avoidance. The GA uses a novel encoding technique, which was developed to optimize the information content of the GA structure. Simulation results were used to further optimize the developed software and determine its optimum field of operation. The results show that the GA finds valid solutions to the path-planning problem within reasonable time and can therefore be used for real world applications.
Keywords :
genetic algorithms; mobile robots; path planning; autonomous robot navigation system; encoded genetic algorithm; information content; local obstacle avoidance; optimum field of operation; path-planning problem; path-planning software; real world applications; Application software; Automatic control; Biological cells; Encoding; Genetic algorithms; Navigation; Orbital robotics; Path planning; Robot kinematics; Robotics and automation;
Conference_Titel :
Circuits and Systems, 2002. MWSCAS-2002. The 2002 45th Midwest Symposium on
Print_ISBN :
0-7803-7523-8
DOI :
10.1109/MWSCAS.2002.1186966
