Multi Objective Optimization of Trajectory Planning of Non-holonomic Mobile Robot in Dynamic Environment Using Enhanced GA by Fuzzy Motion Control and A*

Abstract

a new hybrid approach based on Enhanced Genetic Algorithm by modified the search A* algorithm and fuzzy logic system is proposed to enhance the searching ability greatly of robot movement towards optimal solution state in static and dynamic environment. In this work, a global optimal path with avoiding obstacles is generated initially. Then, global optimal trajectory is fed to fuzzy motion controller to be regenerated into time based trajectory. When unknown obstacles come in the trajectory, fuzzy control will decrease the robot speed. The objective function for the proposed approach is for minimizing travelling distance, travelling time, smoothness and security, avoiding the static and dynamic obstacles in the robot workspace. The simulation results show that the proposed approach is able to achieve multi objective optimization in dynamic environment efficiently.