Path planning for mobile robots by bacterial memetic algorithm

János Botzheim, Yuichiro Toda, Naoyuki Kubota

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

4 Citations (Scopus)

Abstract

The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. This problem belongs to the group of hard optimization problems which can be approached by modern optimization techniques such as evolutionary algorithms. In this paper the bacterial memetic algorithm is proposed for path planning of a mobile robot. The representation used in the paper fits well to the algorithm. Memetic algorithms combine evolutionary algorithms with local search heuristics in order to speed up the evolutionary process. The bacterial memetic algorithm applies the bacterial operators instead of the genetic algorithm's crossover and mutation operator. One advantage of these operators is that they easily can handle individuals with different length. The proposed algorithm is tested in real environment.

Original languageEnglish
Title of host publicationIEEE SSCI 2011
Subtitle of host publicationSymposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
Pages107-112
Number of pages6
DOIs
Publication statusPublished - Aug 12 2011
Externally publishedYes
EventSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011 - Paris, France
Duration: Apr 11 2011Apr 15 2011

Publication series

NameIEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space

Other

OtherSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
CountryFrance
CityParis
Period4/11/114/15/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Information Systems

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  • Cite this

    Botzheim, J., Toda, Y., & Kubota, N. (2011). Path planning for mobile robots by bacterial memetic algorithm. In IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (pp. 107-112). [5945787] (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space). https://doi.org/10.1109/RIISS.2011.5945787