Optimization of potential field parameters using genetic algorithm

Abstract

This paper addresses a metaheuristics approach to optimize the parameters of the potential fields (PF) method. This method is an important algorithm and is primarily used for local navigation problems. However, estimating the appropriate parameters is essential for safe and smooth navigation. For instance, complex scenarios that include long and thin corridors or cluttered environments having numerous obstacles require reliable parameter estimation. Accordingly, the genetic algorithm is utilized to estimate the appropriate algorithms to overcome conventional navigation problems based on the PF method. The experimental results verify the reliability and efficiency of the proposed approach.
 Keywords: Path planning, potential fields (PF) method, genetic algorithm (GA), DEAP, robot navigation, parameter optimization.