Research of Mobile Robot Path Planning Based on Genetic Algorithm
Jian Zhang · 2016
Path planning is an important task in the field of robot.A new method of dividing genetic algorithm(GA) process is proposed,which is different from the traditional method that considers smoothness in GA process.After calculating a path using simplified GA method with a variable length coding, a new type of clothoid curve with wipe parameter is introduced to smooth the sharp turns.In the entire path planning process, the parameter can be chosen adaptively to generate a robot's walk path as soon as the barrier's coordinate is entered.The simulation results show that the method of separating smooth process from GA process simplifies GA method.The proposed method could efficiently decrease the path length as well as increase the path smoothness.