GLOBAL ROBOT PATH PLANNING USING GA FOR LARGE GRID MAPS: MODELLING, PERFORMANCE AND EXPERIMENTATION

Maram Alajlan, Imen Chaari, Anis Koubaa, Hachemi Bennaceur, Adel Ammar, and Habib Youssef

References

  1. [1] M. Alajlan, A. Koubaa, I. Chaari, H. Bennaceur, and A. Ammar, Global path planning for mobile robots in large-scale grid environments using genetic algorithms, 2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR), Sousse, Tunisia, December 2013, 1–8.
  2. [2] iroboapp: Design and analysis of intelligent algorithms for robotic problems and applications, http://www.iroboapp.org. Access date: 20 March 2016.
  3. [3] I. Chaari, A. Koubaa, H. Bennaceur, A. Ammar, S. Trigui, M. Tounsi, E. Shakshuki, and H. Youssef, On the adequacy of tabu search for global robot path planning problem in grid environments, Procedia Computer Science, 32, 2014, 604–613.
  4. [4] M.P. Garcia, O. Montiel, O. Castillo, R. Sepúlveda, and P. Melin, Path planning for autonomous mobile robot navigation with ant colony optimization and fuzzy cost function evaluation, Applied Soft Computing, 9(3), 2009, 1102–1110.
  5. [5] Q. Li, Y. Tang, L. Wang, C. Zhang, and Y. Yin, A specialized particle swarm optimization for global path planning of mobile robots, in 2010 Third International Workshop on Advanced Computational Intelligence (IWACI), Suzhou, Jiangsu, August 2010, 271–276.
  6. [6] I. Chaari, A. Koubaa, S. Trigui, H. Bennaceur, A. Ammar, and K. Al-Shalfan, Smartpath: An efficient hybrid ACOGA algorithm for solving the global path planning problem of mobile robots, International Journal of Advanced Robotic Systems, 11, 2014, 1–15.
  7. [7] H.-C. Huang and C.-C. Tsai, Global path planning for autonomous robot navigation using hybrid metaheuristic GAPSO algorithm, in 2011 Proc. SICE Annual Conference (SICE), September 2011, 1338–1343.
  8. [8] K. Tang, K. Man, S. Kwong, and Q. He, Genetic algorithms and their applications, Signal Processing Magazine, IEEE, 13(6), 1996, 22–37.
  9. [9] Z. Yongnian, Z. Lifang, and L. Yongping, An improved genetic algorithm for mobile robotic path planning, 2012 24th Chinese Control and Decision Conference (CCDC), Taiyuan, 2012, 3255–3260.
  10. [10] W. Jianguo, D. Biao, M. Guijuan, B. Jianwu, and Y. Xuedong, Path planning of mobile robot based on improving genetic algorithm, Proceedings of the 2011 International Conference on Informatics, Cybernetics, and Computer Engineering (ICCE2011), November 19–20, 2011, Melbourne, Australia, Series in Advances in Intelligent and Soft Computing, L. Jiang, Ed. Springer, Berlin, vol. 112, 2012, 535–542.
  11. [11] J. Zhao, L. Zhu, G. Liu, G. Liu, and Z. Han, A modified genetic algorithm for global path planning of searching robot in mine disasters, ICMA 2009 International Conference on Mechatronics and Automation, Changchun, 2009, 4936–4940.
  12. [12] J. Lee, B.-Y. Kang, and D.-W. Kim, Fast genetic algorithm for robot path planning, Electronics Letters, 49(23), November 2013, 1449–1451.
  13. [13] K.H. Sedighi, T.W. Manikas, K. Ashenayi, and R.L. Wainwright, A genetic algorithm for autonomous navigation using variable-monotone paths, International Journal of Robotics & Automation, 24(4), 2009, 367.
  14. [14] A.H. Karami and M. Hasanzadeh, An adaptive genetic algorithm for robot motion planning in 2D complex environments, Computers and Electrical Engineering, 43, 2015, 317–329.
  15. [15] S. Liu, Y. Tian, and J. Liu, Multi-mobile robot path planning based on genetic algorithm, 2004 WCICA Fifth World Congress on Intelligent Control and Automation, Hangzhou, China, vol. 5, June 2004, 4706–4709.
  16. [16] S. Rastogi and V. Kumar, An approach based on genetic algorithms to solve the path planning problem of mobile robot in static environment, MIT International Journal of Computer Science and Information Technology, 1, 2011, 32–35.
  17. [17] D. Tamilselvi, S. Shalinie, A. Thasneem, and S. Sundari, Optimal path selection for mobile robot navigation using genetic algorithm in an indoor environment, Advanced Computing, Networking and Security, Series Lecture Notes in Computer Science, P. Thilagam, A. Pais, K. Chandrasekaran, and N. Balakrishnan, Eds. Springer, Berlin, vol. 7135, 2012, 263–269.
  18. [18] B.K. Oleiwi, H. Roth, and B.I. Kazem, Modified genetic algorithm based on A algorithm of multi-objective optimization for path planning, Jounal of Automation and Control Engineering, 2(4), December 2014, 357–362.
  19. [19] B.K. Oleiwi, H. Roth, and B. Kazem, Multi-objective optimization of path and trajectory planning for non-holonomic mobile robot using enhanced genetic algorithm, Neural Networks and Artificial Intelligence, Series Communications in Computer and Information Science, V. Golovko and A. Imada, Eds. Springer International Publishing, Berlin, vol. 440, 2014, 50–62.
  20. [20] B.K. Oleiwi, R. Al-Jarrah, H. Roth, and B. Kazem, Multi-objective optimization of trajectory planning of non-holonomic mobile robot in dynamic environment using enhanced GA by fuzzy motion control and A, Neural Networks and Artificial Intelligence, Series Communications in Computer and Information Science, V. Golovko and A. Imada, Eds. Springer International Publishing, Berlin, vol. 440, 2014, pp. 34–49.
  21. [21] T. Cabreira, G. Dimuro, and M. de Aguiar, An evolutionary learning approach for robot path planning with fuzzy obstacle detection and avoidance in a multi-agent environment, 2012 Third Brazilian Workshop on Social Simulation (BWSS), Curitiba, 2012, 60–67.
  22. [22] T. Cabreira, M. de Aguiar, and G. Dimuro, An extended evolutionary learning approach for multiple robot path planning in a multi-agent environment, 2013 IEEE Congress on Evolutionary Computation (CEC), Cancun, 2013, 3363–3370.
  23. [23] Y.-Q. Miao, A. Khamis, F. Karray, and M. Kamel, A novel approach to path planning for autonomous mobile robots, International Journal on Control and Intelligent Systems, 39(4), 2011, 1–27.
  24. [24] A. Watkins, GA-based path planning for mobile robots: An empirical evaluation of seven techniques, Journal of Computers, 8(8), 2013, 1912–1922.
  25. [25] A. Tuncer and M. Yildirim, Chromosome coding methods in genetic algorithm for path planning of mobile robots, Computer and Information Sciences II, E. Gelenbe, R. Lent, and G. Sakellari, Eds. Springer, London, 2012, 377–383.
  26. [26] M. Samadi and M. Othman, Global path planning for autonomous mobile robot using genetic algorithm, 2013 International Conference on Signal-Image Technology Internet-Based Systems (SITIS), Kyoto, December 2013, 726–730.
  27. [27] A. Hussein, H. Mostafa, M. Badrel-din, O. Sultan, and A. Khamis, Metaheuristic optimization approach to mobile robot path planning, 2012 International Conference on Engineering and Technology (ICET), Cairo, 2012, 1–6.
  28. [28] I. Chaari, A. Koubaa, H. Bennaceur, S. Trigui, and K. Al-Shalfan, “Smartpath: A hybrid ACO-GA algorithm for robot path planning, 2012 IEEE Congress on Evolutionary Computation (CEC), Brisbane, QLD, 2012, 1–8.
  29. [29] M. Srinivas and L. Patnaik, Genetic algorithms: A survey, Computer, 27(6), 1994, 17–26.
  30. [30] S. Russell and P. Norvig, Artificial intelligence: A modern approach, 3rd ed. (Upper Saddle River, NJ: Prentice Hall, 2009).
  31. [31] M. Alajlan and A. Koubaa, Writing global path planners plugins in ROS: A tutorial, Robot Operating System (ROS), 2015.
  32. [32] Adding a global path planner as plugin in ROS, http://www.iroboapp.org/index.php?title=Adding_A_Global_Path_ Planner_As_Plugin_in_ROS. Access date: 20 March 2016.
  33. [33] Writing a global path planner as plugin in ROS, http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS. Access date: 20 March 2016.

Important Links:

Go Back