동적 변화의 작업환경 내에서 이동 로봇의 경로계획

Path Planning for a Mobile Robot in Dynamic Working Environments

A genetic algorithm for global and local path planning and collision avoidance of mobile robot in dynamic working environment is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.