A Generalized 3-D Path Planning Method for Robots Using Genetic Algorithm with An Adaptive Evolution Process
Refereed conference paper presented and published in conference proceedings

Full Text

Times Cited
Web of Science7WOS source URL (as at 19/02/2021) Click here for the latest count

Other information
AbstractTraditionally, path planning for robots is modeled as optimization problems. One of the most commonly used optimization strategies is Genetic Algorithm (GA) since it always guarantees a nearly shortest path even a global path can not be obtained within a reasonable time. In fact, the performance enhancement of GA is still an open topic for researchers by designing different genetic operators. In addition to this, we propose a new criterion for the selection of genetic operators during evolution in order to further facilitate the searching efficiency. In this paper, we propose a generalized 3-D path planning method for robots using GA with an adaptive evolution process. Based on the framework of traditional GA, we first introduce a new genetic operator, called Bind-NN which randomly divides and recombines an elitist chromosome based on nearest neighbor. We also show that by choosing the fitness variance of the shortest path in last generations as a guidance in selecting genetic operators during evolution, the search efficiency can be significantly improved, thus proposing a genetic operators selection scheme. In the latter part of this paper, we present the algorithm evaluation by stimulating a sample path planning problem on a structural frame. With the use of the proposed genetic operator and selection scheme, experimental results show a significant improvement in terms of search effectiveness and efficiency.
All Author(s) ListChung WK, Xu YS
Name of Conference8th World Congress on Intelligent Control and Automation (WCICA)
Start Date of Conference06/07/2010
End Date of Conference09/07/2010
Place of ConferenceJinan
Country/Region of ConferenceChina
Pages1354 - 1360
LanguagesEnglish-United Kingdom
Keywords3-D path planning; adaptive evolution; genetic algorithm
Web of Science Subject CategoriesAutomation & Control Systems; Engineering; Engineering, Electrical & Electronic

Last updated on 2021-19-02 at 23:35