Intelligent Control and Planning of Autonomous Mobile Robots Using Fuzzy Logic and Multiple Objective Genetic Algorithms

摘要

This paper describes the use of a Genetic Algorithm (GA) for the problem of Offline Point-to-Point Autonomous Mobile Robot Path Planning. The problem consist of generating "valid" paths or trajectories, for an Holonomic Robot to use to move from a starting position to a destination across a flat map of a terrain, represented by a two dimensional grid, with obstacles and dangerous ground that the Robot must evade. This means that the GA optimizes possible paths based on two criteria: length and difficulty.