A Novel Method of Mobile Robot Path Planning Based on Quantum Genetic Algorithm

摘要

In order to solve goals nonreachable with obstacles nearby (GNRON), a novel method of mobile robot path planning based on quantum genetic algorithm(QGA) is proposed. A new potential field function is presented by adding an exponential factor to the repulsive potential functions, it can balance the repulsive force of obstacles and eliminate singularity in planning, and the robot can get to the goal. QGA is used to select the optimal or sub-optimal path in order to protect the optimal or sub-optimal path in to the next generation, and optimization of the route length and safety are realized. Simulation result shows that the proposed method can effectively improve the performance of route plan.