Abstract
Robot path planning is an important topic in the field of robots. Unlike previous methods which consider the smoothness of paths in the process of genetic algorithm, this paper presents a new method of robot path planning that separates the genetic algorithm process from the path smoothing process. First, a simple genetic algorithm with variable length encoding is designed to generate a better polyline path, and then a new type of spiral with shape parameters is introduced to smooth it to smooth a larger corner. Throughout the path planning process, only obstacle coordinates are input to select parameters adaptively to generate the robot’s walking path. The simulation results show that separating the genetic algorithm process from the path smoothing process reduces the complexity of the genetic algorithm itself, so the designed smoothing operation not only improves the smoothness of the path, but also reduces the length of the path.
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