Abstract
We present and implement a Genetic Algorithm (GA) based deliberative path planning algorithm using waypoints for navigation of Robots and AGV's. The Waypoint Navigation System is advantageous as it does not require a complete knowledge of the environment and can replace traditional robot navigation systems. The proposed GA for Robot navigation problem is NP-hard and Multi-objective. The performance of the implemented GA is compared with the results obtained from two popular algorithms namely the Dijikstra's algorithm and A* algorithms. We propose a new Representation that reduces the size of the chromosome array for large number of waypoints; the proposed GA has faster convergence and obtains near optimal solutions. The system has been developed for a near real-time experiment using a Matlab engine located on an online server. An integrated system complete with the required Hardware was constructed for the purpose of testing the performance of the various algorithms using a real world Geographical Information System (GIS) and actual node data (waypoints) of Kuala Lumpur City. The proposed new system has been tested and is found to be suitable for adaptation in robot navigation, path planning and intelligent traffic guidance systems.
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.
