Robot path planning based on modified genetic algorithm

Abstract

Propose a method of mobile robot path planning based on modified genetic algorithmt to achieve the goals in the dynamic enviroments, and to avoid obstacle for the surrounding. The behavior describe acts that the robot go to the end point, then the GA(Genetic Algorithm) optimize behavior's parameters, the weighted sum of the evaluation function that the shortest path, path smoothness and dynamic obstacle avoidance determine fitness function. The simulation results demonnstrate that the proposed algorithm achieved considerable improvements, with respect to the basic GA, in convergence speed.