Optimal Path Selection for Mobile Robot Navigation Using Genetic Algorithm
The proposed Navigation Strategy using GA(Genetic
Algorithm) finds an optimal path in the simulated grid
environment. GA forces to find a path that is connected to the
robot start and target positions via predefined points. Each point
in the environmental model is called genome and the path
connecting Start and Target is called as Chromosome.
According to the problem formulation, the length of the
algorithm chromosomes (number of genomes) is dynamic.
Moreover every genome is not a simple digit. In this case, every
genome represents the nodes in the 2D grid environment. After
implementing the cross over and mutation concepts the resultant
chromosome (path) is subjected to optimization process which
gives the optimal path as a result. The problem faced with is
there may be chances for the loss of the fittest chromosome
while performing the reproduction operations. The solution is
achieved by inducing the concept of elitism thereby maintaining
the population richness. The efficiency of the algorithm is
analyzed with respect to execution time and path cost to reach
the destination. Path planning, collision avoidance and obstacle
avoidance are achieved in both static and dynamic environment.
Keywords: Mobile Robot, Path Planning, Genetic Algorithm, Optimal Path, Navigation
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