Autonomous local path planning for a mobile robot using a genetic algorithm

  title={Autonomous local path planning for a mobile robot using a genetic algorithm},
  author={Kamran H. Sedighi and Kaveh Ashenayi and Theodore W. Manikas and Roger L. Wainwright and Heng-Ming Tai},
  journal={Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753)},
  pages={1338-1345 Vol.2}
This work presents results of our work in development of a genetic algorithm based path-planning algorithm for local obstacle avoidance (local feasible path) of a mobile robot in a given search space. The method tries to find not only a valid path but also an optimal one. The objectives are to minimize the length of the path and the number of turns. The proposed path-planning method allows a free movement of the robot in any direction so that the path-planner can handle complicated search… CONTINUE READING
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