Publication detail

GA-Based Path Planning for Nonholonomic Mobile Robots

KRČEK, P. DVOŘÁK, J.

Original Title

GA-Based Path Planning for Nonholonomic Mobile Robots

Type

conference paper

Language

English

Original Abstract

In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space with known static polygonal obstacles. This problem involves finding a collision-free path from a start to a goal position, satisfying kinematic constraints and minimizing an evaluation function. The proposed approach consists of finding a path for a simplified nonholonomic robot by means of a genetic algorithm and subsequent adapting this path to remaining nonholonomic constraints by using a modified bi-directional A* algorithm. We compare this approach with methods based on A* and on rapidly exploring random trees.

Keywords

mobile robot, nonholonomic constraints, path planning, genetic algorithms, graph search algorithms, rapidly-exploring random trees

Authors

KRČEK, P.; DVOŘÁK, J.

RIV year

2011

Released

15. 6. 2011

Publisher

Brno University of Technology

Location

Brno

ISBN

978-80-214-4302-0

Book

MENDEL 2011 - 17th International Conference on Soft Computing

Pages from

552

Pages to

559

Pages count

8

BibTex

@inproceedings{BUT74659,
  author="Petr {Krček} and Jiří {Dvořák}",
  title="GA-Based Path Planning for Nonholonomic Mobile Robots",
  booktitle="MENDEL 2011 - 17th International Conference on Soft Computing",
  year="2011",
  pages="552--559",
  publisher="Brno University of Technology",
  address="Brno",
  isbn="978-80-214-4302-0"
}