Multiple Waypoint Mobile Robot Path Planning Using Neighborhood Search Genetic Algorithms

摘要

In this paper, we present a Neighborhood Search Genetic Algorithms (NSGAs) for mobile robot path planning. GAs have been used successfully in a variety of path planning problem because they can search the space of all possible paths and provide the optimal one. The convergence process of GAs might be lengthy compared to traditional search techniques that depend on local search methods. We propose a hybrid approach that allows GAs to combine both the advantages of GAs and local search algorithms. GAs will create a multiple waypoint path allowing a mobile robot to navigate through static obstacles and finding the optimal path in order to approach the target location without collision. The proposed NSGAs has been examined over four different path planning case studies with varying complexity. The performance of the enhanced GA has been compared with A-star algorithm (A*) standard GA, particle swarm optimization (PSO) algorithm. The obtained results show that the proposed approach is able to get good results compared to other algorithms.