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http://dx.doi.org/10.5391/JKIIS.2010.20.2.195

Collision-Avoidance and Optimal Path Planning of Autonomous Mobile Robot using Soft-Computing  

Ha, Sang-Hyung (중앙대학교 전자전기공학부)
Choe, In-Chan (중앙대학교 전자전기공학부)
Kim, Hyeon-Seong (중앙대학교 전자전기공학부)
Jeon, Hong-Tae (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.2, 2010 , pp. 195-201 More about this Journal
Abstract
Recently, the necessity of the autonomous mobile robot is emphasized in order to enlarge the scope of activity and actively cope with the change of work environment. This paper proposes the algorithm which enables the mobile robot to avoid obstacles and lead it to the destination by the shortest path. And we verify the usability by a simulation. We made the algorithm with micro-GA and $\lambda$-geometry MRA. The area of simulation is limited to 320(width)$\times$200(length) pixels and one pixel is one centimeter. When we planned the path with only $\lambda$-geometry MRA, we could find the direction for path planning but could not find the shortest path. But when we planned the path with $\lambda$-geometry MRA and micro-GA, we could find the shortest path. So the algorithm enables us to find the direction for path planning and the shortest path.
Keywords
Micro-GA; $\lambda$-Geometry MRA; Optimal path planning; Collision avoidance;
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