A Mobile Robot Path Planning Algorithm Based on Multi-objective Optimization

摘要

A mobile robot path planning algorithm based on multi-objective optimization is proposed. The algorithm aims to achieve three kinds of optimization objects for planned paths: length, smoothness and security the chaotic sequence and heuristic methods based on environmental knowledge to initialize population so as to improve the individuals' ergodicity and feasibility in the search space. Meanwhile, according to characteristics of path planning, several genetic operators based on domain-specific knowledge are proposed to improve the efficiency of the algorithm. Simulation results show that the robot can plan a set of optimized smooth paths which can avoid collisions from the start to the target point in the environment with many obstacles, and these optimal paths.