Chromosome Coding Methods in Genetic Algorithm for Path Planning of Mobile Robots

被引：3

作者：

Tuncer, Adem ^{[1
]}

Yildirim, Mehmet ^{[1
]}

机构：

[1] Kocaeli Univ, Tech Educ Fac, Networked Control Syst Lab, TR-41380 Umuttepe Kocaeli, Turkey

来源：

COMPUTER AND INFORMATION SCIENCES II | 2012年

关键词：

Genetic algorithm; Path planning; Mobile robot;

D O I：

10.1007/978-1-4471-2155-8_48

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this study, various chromosome coding methods are analyzed for genetic algorithm to solve path planning problem of mobile robots. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. Genetic algorithms have been widely used to generate an optimal path by taking the advantage of its strong optimization ability. Binary, decimal and orderly numbered grids coding methods are used to create chromosomes in this study. Path distance, generation number and solution time parameters are observed and compared for the three coding methods under the same conditions. Results showed that the solution time is directly affected by chromosome coding method.

引用

页码：377 / 383

页数：7

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