Abstract
This paper deals with a new technique for autonomous trajectory planning of mobile robots using a Novel Evolution Strategy (NES) algorithm. Two-dimensional trajectory planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. The polygonal obstacles are modeled as circles from the visibility concept. In contrast to traditional evolutionary representations, special representations of individuals and crossover operation are adopted for a potential evolutionary search. The effectiveness of the proposed technique is demonstrated by presenting asimulation result of the robot within a heavily obstacle environment.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
