Robot Path Planning Based on A Hybrid Approach

摘要

In this paper, an optimal method based on combination of improved genetic algorithm (IGA) and improved artificial potential field (IAPF) for path planning of mobile robot is proposed. This method consists of two steps. Firstly, free space model of mobile robot is established by using grid-based method and IGA is employed to find a global optimal collision-free path which is usually the shortest through known static environment. Secondly, according to the path obtained by IGA, IAPF is utilized to generate a real-time path to avoid dynamic obstacles. This ensures that robot can avoid obstacles as well as move along the optimal path. Simulation experiments are carried out to verify the superiority of the proposed algorithm.