GA-based path planning for mobile robot systems employing an active search algorithm
A genetic algorithm (GA)-based path planning software for mobile robot systems focusing on energy consumption is presented. One special feature of this software is the consideration of changing texturesand therefore changing energy requirements when movingwithin given environments. Problem specific genetic operators are introduced, and especially the handling of exceptional situations is described in detail. After that, an active search algorithm is introduced which allows to overcome the drawbacks of an earlier version of that software. This algorithm is executed within two different phases of the optimisation process. For each obstacle within the environment regarded a path circumventing it is computed in a preparation phase. Then, in the execution phase of the GA itself, the results of the preparation phase are used to find optimum paths. The mode of action within both phases is described in detail. Furthermore, the suitability of the approach is substantiated by an example.
path planning robotics genetic algorithms energy consumption