Path planning in probabilistic environment by bacterial memetic algorithm

János Botzheim, Yuichiro Toda, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingChapter

3 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. In case of probabilistic environment not only static obstacles obstruct the free passage of the robot, but there are appearances of obstacles with probability. The problem is approached by the bacterial memetic algorithm. The objective is to minimize the path length and the number of turns without colliding with an obstacle. Our method is able to generate a collision-free path in probabilistic environment. The proposed algorithm is tested by simulations.

Original languageEnglish
Title of host publicationIntelligent Interactive Multimedia
Subtitle of host publicationSystems and Services : Proceedings of the 5th International Conference on Intelligent Interactive Multimedia Systems and Services (IIMSS 2012)
EditorsJain Lakhmi, Howlett Robert, Watada Junzo, Watanabe Toyohide, Takahashi Naohisa
Pages439-448
Number of pages10
DOIs
Publication statusPublished - Dec 1 2012
Externally publishedYes

Publication series

NameSmart Innovation, Systems and Technologies
Volume14
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026

ASJC Scopus subject areas

  • Decision Sciences(all)
  • Computer Science(all)

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  • Cite this

    Botzheim, J., Toda, Y., & Kubota, N. (2012). Path planning in probabilistic environment by bacterial memetic algorithm. In J. Lakhmi, H. Robert, W. Junzo, W. Toyohide, & T. Naohisa (Eds.), Intelligent Interactive Multimedia: Systems and Services : Proceedings of the 5th International Conference on Intelligent Interactive Multimedia Systems and Services (IIMSS 2012) (pp. 439-448). (Smart Innovation, Systems and Technologies; Vol. 14). https://doi.org/10.1007/978-3-642-29934-6_42