Genetic Algorithms for Adaptive Planning of Path and Trajectory of a Mobile Robot in 2D Terrains

摘要

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mo- bile robot. Our GA-based approach has an advantage of adaptiv- ity such that the GAs work even if an environment is time-varying or unknown. Therefore. it is suitable for both off-Iine and on-line motion planning. We first presents a GA for path planning in a 2D terrain. Simulation results on the performance and adaptiv- ity of the GA on randomly generated terrains are shown. Then, we discuss an extension of the GA for solving both path planning and trajectory planning simultaneously.