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Vol. 166, Issue 3, March 2014, pp. 255-260




Robot Path Planning Method Based on Improved Genetic Algorithm

1 Mingyang Jiang, 2 Xiaojing Fan, 1 Zhili Pei, 1 Jingqing Jiang, 3 Yulan Hu, 1 Qinghu Wang

1 College of Computer Science and Technology, Inner Mongolia University for the Nationalities, 028000, P.R China
2 College of Mechanical Engineering, Inner Mongolia University for the Nationalities, 028000, P.R China
3 School of Information Science and Engineering, Shenyang Ligong University, 110000, P.R China
1 Tel.: +86-475-8313016, fax: +86-475-8313016

E-mail: jiang_ming_yang@163.com


Received: 20 December 2013 /Accepted: 28 February 2014 /Published: 31 March 2014

Digital Sensors and Sensor Sysstems


Abstract: This paper presents an improved genetic algorithm for mobile robot path planning. The algorithm uses artificial potential method to establish the initial population, and increases value weights in the fitness function, which increases the controllability of robot path length and path smoothness. In the new algorithm, a flip mutation operator is added, which ensures the individual population collision path. Simulation results show that the proposed algorithm can get a smooth, collision-free path to the global optimum, the path planning algorithm which is used to solve the problem is effective and feasible.


Keywords: Mobile robot, Improved genetic algorithm, Path planning, Path coding, Fitness function.


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