A New Genetic Method for Mobile Robot Navigation

The obstacle avoidance and path planning is one of the most important problem in mobile robots, especially in dynamic environments which both target and obstacles are moving. Also the ideas and algorithms for controlling and decreasing the real robot error in path is another problem that must be solved. Usual methods have two separated parts, path planning with obstacle avoidance and auto-tuning motion control. In this paper we combined these two parts, discuss about the pursuit idea in robot motion control and show the modification with genetic algorithm to achieve a method for navigation of a two wheeled mobile robot. All ideas such pursuit and obstacle avoidance are taken from nature, and has been executed with genetic algorithm and fuzzy logic to train an intelligent robot in dynamic environment.

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