A Hybrid Genetic Algorithm for Mobile Robot Shortest Path Problem

Yıl 2016, Cilt: 4 Sayı: Special Issue-1, 264 - 267, 26.12.2016

Eşref Boğar Selami Beyhan

Öz

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.

Anahtar Kelimeler

Robot path planning, genetic algorithm, Dijkstra algorithm, Shortest path

Kaynakça

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