A Hybrid Genetic Algorithm for Mobile Robot Shortest Path Problem

摘要

This paper proposes an algorithm to solve the problem of shortest path planning for a mobile robot in a static environment with obstacles. The proposed algorithm is a Hybrid Genetic Algorithm (HGA) which includes Genetic and Dijkstra Algorithms together. The Genetic Algorithm (GA) is preferred since the structure of robot path planning problem is very convenient to apply genetic algorithm’s coding and operators such as permutation coding, crossover and mutation. GA provides diversification while searching possible global solutions, but Dijkstra Algorithm (DA) makes more and more intensification in local solutions. The simulation results show that the mobile robot can plan a set of optimized path with an efficient algorithm.