Research on Coverage Path Planning of Mobile Robot Based on Genetic Algorithm

San Peng Deng; Zhong Min Wang; Peng Zhou; Hong Bing Wu

doi:10.4028/www.scientific.net/AMR.819.379

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 819Research on Coverage Path Planning of Mobile Robot...

Research on Coverage Path Planning of Mobile Robot Based on Genetic Algorithm

Abstract:

This paper presents a complete coverage path planning method, which combines local space coverage with global motion planning. It is realized by modeling mobile robot environment based on Boustrophedon cell decomposition method; and according to the characteristics of regional environment model, the connectivity of the traversing space is represented by a complete weighted connected matrix. Then Genetic algorithm (GA) is used to optimize the subspace traversal distance to obtain the shortest global traversal sequence of mobile robot.

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Periodical:

Advanced Materials Research (Volume 819)

Pages:

379-383

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.819.379

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Online since:

September 2013

Authors:

San Peng Deng, Zhong Min Wang, Peng Zhou, Hong Bing Wu

Keywords:

Complete Coverage Path Planning, Genetic Algorithm (GA), Mobile Robot

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References

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