A genetic algorithm approach using voronoi diagram for path planning
In the context of Mobile Robotics, the e cient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static...
Guardado en:
| Autores principales: | , , , |
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| Formato: | Objeto de conferencia |
| Lenguaje: | Español |
| Publicado: |
2011
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| Materias: | |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/125239 |
| Aporte de: |
| Sumario: | In the context of Mobile Robotics, the e cient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to nd a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. |
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