Study on Path Planning for Family Service Robot based on Improved Genetic Algorithm

EasyChair Preprint 1225

Abstract

An approach to obstacle avoidance and navigation for mobile robot based on structured environment is proposed. In this approach, the IGA is integrated with the graph theory, and is applied to finding the appropriate path; meanwhile, by application of the niche algorithm, the diversity of population after the initial population generated can be maintained. The simulated annealing algorithm is employed to IGA so as to optimize the result and to avoid the large increase of individuals. The simulation results indicate that this method is successfully applied in large scale with less iteration and the convergence rate is improved.

Keyphrases: Genetic Algorithm, Niche Algorithm, graph theory, path planning, simulated annealing algorithm

@booklet{EasyChair:1225,
  author    = {Xuedong Jing and Ya-Nan Chen and Yuquan Xue},
  title     = {Study on Path Planning for Family Service Robot based on Improved Genetic Algorithm},
  howpublished = {EasyChair Preprint 1225},
  year      = {EasyChair, 2019}}