Path planning of robot in three-dimensional grid environment based on genetic algorithms

摘要

Considering the mobile robot faces complex environments, this paper proposes a path planning method in three-dimensional grid environment. Combined with plane path planning method, according to design target the robot can surpass or climb up to some obstacles and surpass higher obstacles which cannot be leaped over directly and could move downwards in turn. The height and position of the obstacles are known in advance and the path is optimized through genetic algorithm (GA), meanwhile an improved GA is proposed. Path planning in three-dimensional grid environment is a breakthrough from plane environment. Experimental results show the effectiveness and feasibility of the improved GA in three-dimensional path planning for mobile robot.