@inproceedings{2c5b14c1f1c04e66aa2dff5c022610a7,
title = "Global path planning of mobile robots as an evolutionary control problem",
abstract = "A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles.",
keywords = "Computational Intelligence, Evolution Strategy, Global Path Planning, Obstacle Avoidance, Optimal Control",
author = "K. Watanabe and Hashem, {M. M.A.} and K. Izumi",
year = "2015",
month = mar,
day = "24",
language = "English",
series = "European Control Conference, ECC 1999 - Conference Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4744--4749",
booktitle = "European Control Conference, ECC 1999 - Conference Proceedings",
note = "1999 European Control Conference, ECC 1999 ; Conference date: 31-08-1999 Through 03-09-1999",
}