AN ADAPTIVE MOBILE ROBOT PATH PLANNER FOR DYNAMIC ENVIRONMENTS WITH ARBITRARY-SHAPED OBSTACLES

Abstract

International Journal of Computational Engineering ScienceVol. 04, No. 01, pp. 67-84 (2003) No AccessAN ADAPTIVE MOBILE ROBOT PATH PLANNER FOR DYNAMIC ENVIRONMENTS WITH ARBITRARY-SHAPED OBSTACLESG. ANDAL JAYALAKSHMI, H. PRABHU, and R. RAJARAMG. ANDAL JAYALAKSHMIComputer Science and Engineering Department, Thiagarajar College of Engineering, Madurai, Tamilnadu, India Search for more papers by this author , H. PRABHUComputer Science and Engineering Department, Thiagarajar College of Engineering, Madurai, Tamilnadu, India Search for more papers by this author , and R. RAJARAMInformation Technology Department, Thiagarajar College of Engineering, Madurai, Tamilnadu, India Search for more papers by this author https://doi.org/10.1142/S1465876303000740Cited by:0 PreviousNext AboutSectionsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend to Library ShareShare onFacebookTwitterLinked InRedditEmail AbstractThis paper presents a new algorithm for the mobile robot path planning problem. The algorithm presented here applies an initialization heuristics and new operators to solve this problem and discusses how the operators are tuned to perform better. The algorithm adapts itself by tuning its operator probabilities according to the characteristics of the path generated so far. The fitness of the path is not only based on the length of the path but also determined on the basis of the smoothness of the path. The algorithm is tested for different environments with arbitrarily-shaped obstacles and dynamic environments. When dynamic obstacles are identified the algorithm finds the new path from the point of intervention and the original path is retained till that position. The algorithm is tested for five different environments.Keywords:Robot path planningdomain-specific genetic operatorsdynamic environmentinitialization heuristicsarbitrary-shaped obstacles References J. T. Schwartz and M. Sharir, Artificial Intelligence 37, 157 (1988), DOI: 10.1016/0004-3702(88)90053-7. Crossref, Google Scholar J. C. Latombe , Robot Motion Planning ( Kluwer , Norwell, MA , 1991 ) . Crossref, Google ScholarC. K. Yap, Algorithmic and Geometric Aspects of Robotics, Algorithmic Motion Planning in the Advances in Robotics 1, eds. J. T. Schwartz and C. K. Yap (Lawrence Erlbaum, Hillsdale, NJ, 1987) pp. 95–143. Google ScholarC. Alexopoulus and P. M. Griffin, IEEE Trans. Syst. Man and Cybernetics 22, 318 (1992). Crossref, Google ScholarM. B. Trabia, IEEE Trans. Syst. Man and Cybernetics 23, 1481 (1993), DOI: 10.1109/21.260680. Crossref, Google ScholarR. C. Arkin, Int. J. Robot. Res. 8(4), 92 (1989), DOI: 10.1177/027836498900800406. Crossref, Google ScholarV. J. Lumelsky, IEEE Trans. Robot. Automat. 7(1), 57 (1991), DOI: 10.1109/70.68070. Crossref, Google ScholarV. J. Lumelsky and A. A. Stepanov, Algorithmica 2, 403 (1987), DOI: 10.1007/BF01840369. Crossref, Google ScholarG. Foux, M. Heymann and A. Bruckstein, IEEE Trans. Robot. Automat. 9, 96 (1993), DOI: 10.1109/70.210800. Crossref, Google ScholarJ. B. Oommenet al., IEEE Trans. Robot. Automat. RA-3, 672 (1987). Google ScholarA. Zelinsky, IEEE Trans. Robot. Automat. 8, 707 (1992), DOI: 10.1109/70.182671. Crossref, Google ScholarW. C. Page, J. R. McDonnell and B. Anderson, An evolutionary programming approach to multi-dimensional path planning, Proc. First Annual Conf. Evolutionary Programming (Evolutionary Programming Society, San Diego, CA, 1992) pp. 63–70. Google ScholarT. Shibata and T. Fukuda, Intelligent motion planning by genetic algorithm and fuzzy critic, Proc. 8th IEEE International Symposium on Intelligent Control (1993) pp. 565–570. Google ScholarM. Zhao, N. Ansari and E. Hou, Mobile manipulator path planning by a genetic algorithm, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (1992) pp. 681–688. Google ScholarD. Beasley, D. R. Bull and R. R. Martin, University of Computing 15(2), 58 (1993). Google Scholar M. Mitchell , An Introduction to Genetic Algorithms ( PHI , 1998 ) . Crossref, Google Scholar Z. Michalewicz , Genetic Algorithms + Data Structures = Evolution Programs ( Springer-Verlag , 1992 ) . Crossref, Google Scholar R. Hinterding, Z. Michalewicz, and A. E. Eiben, Adaptation in Evolutionary Computation: A Survey . Google ScholarP. J. Angeline, Computational Intelligence, A Dynamic System Perspective (IEEE Press, 1995) pp. 152–161. Google Scholar FiguresReferencesRelatedDetails Recommended Vol. 04, No. 01 Metrics History Received 3 July 2002 Accepted 5 November 2002 KeywordsRobot path planningdomain-specific genetic operatorsdynamic environmentinitialization heuristicsarbitrary-shaped obstaclesPDF download