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Simulation of Path Planning of Mobile Robot in Dynamic Environment
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 78 - Number 15 |
| Year of Publication: 2013 |
| Authors: Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar |
10.5120/13601-1374
|
Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar . Simulation of Path Planning of Mobile Robot in Dynamic Environment. International Journal of Computer Applications. 78, 15 ( September 2013), 27-33. DOI=10.5120/13601-1374
Abstract
Path planning of a robot [1] is a problem in which a problem space or a problem domain with a number of obstacles is given and the aim is to find a collision free path which a robot can follow in order to reach its destination from the start position. Here in this paper environment is represented by ordered grids, each of which represents a location in the mobile robot movement space. Along with this we would be able to place dynamic no. of static and movable obstacles at run time. The boundary of obstacles is formed by their actual boundary plus minimum safety distance considering the size of the mobile robot, which makes it possible to treat the mobile robot a point in the environment. The path [2] which the robot will follow is desired to be optimal in terms of distance and time taken by the robot to reach the destination. Here in this problem we have used Genetic Algorithm for path planning which is a search algorithm based on the mechanics of natural selection and natural genetics. Potential solutions of a problem are chromosomes, which form a population of possible solutions which compete with each other on the basis of fitness function. A selection mechanism based on the fitness is applied to the population and the individuals strive for the survival.
References
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