Path Planning for Multiple Mobile Robots in Static Environment using Hybrid Algorithm

摘要

In global path planning, finding the optimal path between the starting point and the destination is one of the fundamental problems. Thanks to the recent developments in robotics, meta-heuristic optimization algorithms can be used in path planning. In this study, a new hybrid algorithm based on Genetic Algorithm (GA) and A* algorithm has been developed to solve the navigation problems of multiple mobile robots in a static environment with intermediate target points. The aim of this hybrid approach is improving the productivity of the GA and the most important performance criteria determined in path planning such as time and cost. A graphical interface based on user friendly MATLAB-GUI (Graphical User Interface) has been developed to show the effectiveness of the developed method. It is hoped that the developed system will have an extensive usage area in autonomous transport systems.