Way Point Based Deliberative Path Planner for Navigation

A. Daleel Lilla; S. Veera Ragavan; S.G. Ponnambalam

doi:10.4028/www.scientific.net/AMR.433-440.3302

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440Way Point Based Deliberative Path Planner for...

Way Point Based Deliberative Path Planner for Navigation

Abstract:

We present an Evolutionary Planning and Replanning Algorithm, capable of producing Bounded Suboptimal solutions in an Anytime fashion. Combining Genetic Algorithm with anytime approach is uncommon. Anytime Genetic algorithm combines the benefits of an Anytime and an Evolutionary Algorithm to efficiently provide solutions to complex, Dynamic Search Problems. The results appear promising for shorter horizon problems, while for large horizon the search tends to behave like a standard GA

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Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

3302-3307

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.3302

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Online since:

January 2012

Authors:

A. Daleel Lilla, S. Veera Ragavan, S.G. Ponnambalam

Keywords:

A, Anytime Algorithm, Contract Anytime GA (CAGA), Dynamic Search, Genetic Algorithm (GA), Interruptible Anytime GA (IAGA), Multi-Objective Shortest Path Problem, Path Planning Problem, Robot Navigation

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