Robust GA Based Global Path Planning for IoP Oriented Mobil Robot

摘要

In this paper, a novel genetic algorithm based global path planning approach is proposed for effective and robust control of an IoP-oriented mobile robot. This method is designed in an indoor work environment, different from the traditional procedure of planning algorithm, a searching area is determined at first, within which the subsequent planning method is conducted. The improved genetic algorithm method exploits a new encoding scheme to increase the chromosomes' flexibility and adopts a new crossover operator for effectiveness. The simulation results in MATLAB successfully demonstrate that the proposed method performs very well in various environments.