Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots

Abstract

This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots.