Global path planning of mobile robots as an evolutionary control problem

K. Watanabe, M. M.A. Hashem, K. Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 1999 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4744-4749
Number of pages6
ISBN (Electronic)9783952417355
Publication statusPublished - Mar 24 2015
Externally publishedYes
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: Aug 31 1999Sep 3 1999

Publication series

NameEuropean Control Conference, ECC 1999 - Conference Proceedings

Other

Other1999 European Control Conference, ECC 1999
CountryGermany
CityKarlsruhe
Period8/31/999/3/99

Keywords

  • Computational Intelligence
  • Evolution Strategy
  • Global Path Planning
  • Obstacle Avoidance
  • Optimal Control

ASJC Scopus subject areas

  • Control and Systems Engineering

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