Path Planning in a Mobile Robot-Reference-Cited by-同舟云学术

Path Planning in a Mobile Robot

Published:2013 Issue: Volume: Page:123-147
ISSN:2327-0411
Container-title:Mobile Ad Hoc Robots and Wireless Robotic Systems
language:
Short-container-title:

Author:

Burgos Diego Alexander Tibaduiza¹^ORCID,Vejar Maribel Anaya²

Affiliation:

1. Universitat Politècnica de Catalunya, Spain

2. Universidad Sergio Arboleda, Colombia

Abstract

This chapter presents the development and implementation of three approaches that contribute to solving the mobile robot path planning problems in dynamic and static environments. The algorithms include some items regarding the implementation of on-line and off-line situations in an environment with static and mobile obstacles. A first technique involves the use of genetic algorithms where a fitness function and the emulation of the natural evolution are used to find a free-collision path. The second and third techniques consider the use of potential fields for path planning using two different ways. Brief descriptions of the techniques and experimental setup used to test the algorithms are also included. Finally, the results applying the algorithms using different obstacle configurations are presented and discussed.

Publisher

IGI Global

Reference40 articles.

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