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Simulation of Path Planning of Mobile Robot in Dynamic Environment

by Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 78 - Number 15
Year of Publication: 2013
Authors: Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar
10.5120/13601-1374

Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar . Simulation of Path Planning of Mobile Robot in Dynamic Environment. International Journal of Computer Applications. 78, 15 ( September 2013), 27-33. DOI=10.5120/13601-1374

@article{ 10.5120/13601-1374,
author = { Prabal Bhatnagar, Shivanshu Rastogi, Vikas Kumar },
title = { Simulation of Path Planning of Mobile Robot in Dynamic Environment },
journal = { International Journal of Computer Applications },
issue_date = { September 2013 },
volume = { 78 },
number = { 15 },
month = { September },
year = { 2013 },
issn = { 0975-8887 },
pages = { 27-33 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume78/number15/13601-1374/ },
doi = { 10.5120/13601-1374 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:51:40.330599+05:30
%A Prabal Bhatnagar
%A Shivanshu Rastogi
%A Vikas Kumar
%T Simulation of Path Planning of Mobile Robot in Dynamic Environment
%J International Journal of Computer Applications
%@ 0975-8887
%V 78
%N 15
%P 27-33
%D 2013
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Path planning of a robot [1] is a problem in which a problem space or a problem domain with a number of obstacles is given and the aim is to find a collision free path which a robot can follow in order to reach its destination from the start position. Here in this paper environment is represented by ordered grids, each of which represents a location in the mobile robot movement space. Along with this we would be able to place dynamic no. of static and movable obstacles at run time. The boundary of obstacles is formed by their actual boundary plus minimum safety distance considering the size of the mobile robot, which makes it possible to treat the mobile robot a point in the environment. The path [2] which the robot will follow is desired to be optimal in terms of distance and time taken by the robot to reach the destination. Here in this problem we have used Genetic Algorithm for path planning which is a search algorithm based on the mechanics of natural selection and natural genetics. Potential solutions of a problem are chromosomes, which form a population of possible solutions which compete with each other on the basis of fitness function. A selection mechanism based on the fitness is applied to the population and the individuals strive for the survival.

References
  1. Rastogi Shivanshu, Kumar Vikas, " path planning of mobile robot in static environment" MITIJCSIT,2012
  2. T. Lozano-Perez, "Spatial planning: A configuration approach," IEEE Trans. on Computers, vol. C-32, no. 2, pp. 108-120, Feb. 1983
  3. M. W. Spong and M. Vidyasagar, Robot dynamics and control. New York: Wiley, 1989.
  4. Ananya Das, Priyadarsini ohapatra " Improved real time A* algorithm for Path Planning of Mobile Robot in Quadrant Based Environment"
  5. Torvald Ersson and Xiaoming Hu, "Path Planning and Navigation of Mobile Robots in Unknown Environments"
  6. Ismail AL-Taharwa, Alaa Sheta and Mohammed Al-Weshah," A Mobile Robot Path Planning Using Genetic Algorithm in Static Environment
  7. Zhang Qi-yi, Chang Shu-chun," An Improved Crossover Operator of Genetic Algorithm, "Second International Symposium on Computational Intelligence and Design, 2009. ISCID '09
  8. Yuan-Qing Qin De-Bao Sun ; Ning Li ; Yi-Gang Cen," Path planning for mobile robot using the particle swarm optimization with mutation operator Proceedings of 2004 International Conference on Machine Learning and Cybernetics.
Index Terms

Computer Science
Information Sciences

Keywords

Fitness function Obstacles mobile robots path planning.

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