A memetic algorithm based procedure for a global path planning of a movement constrained mobile robot

摘要

In this work we present a general memetic algorithm for solving a major robotic task, a Global Path Planning (GPP). It consists in finding a path (way) on an a-priori given map from a starting to a destination point. We are concerned with the solution of such a GPP problem for which a robot that has a non-holonomic kinematic structure and some movement constraints. A set of planning rules has been proposed together with a corresponding genotype improvement and repair methods. The presented numerical results presented confirm that the memetic algorithms can be a very promising tool for solving the Global Path Planning (GPP) problem.