An effective initialization method for genetic algorithm-based robot path planning using a directed acyclic graph

Abstract The goal of robot path planning is to find a feasible path that proceeds from a starting point to a destination point without intersecting any obstacles in the given environment. Recently, genetic algorithm-based robot path planning methods have been widely considered in the intelligent robotics community. Because the initialization process significantly influences the performance of the genetic algorithm, an effective initialization method is required. However, investigation on this subject is still lacking. In this paper, we propose an effective initialization method for genetic algorithm-based robot path planning. Experimental results comparing genetic algorithms with conventional initialization methods and the proposed initialization method showed that the proposed method leads to high quality paths in a significantly shorter execution time.

[1]  Sunglok Choi,et al.  Fast any-angle path planning on grid maps with non-collision pruning , 2010, 2010 IEEE International Conference on Robotics and Biomimetics.

[2]  Miao Xu,et al.  ROBIL: Robot Path Planning Based on PBIL Algorithm , 2014 .

[3]  Wei Zhang,et al.  An Improved Genetic Algorithm of Optimum Path Planning for Mobile Robots , 2006, Sixth International Conference on Intelligent Systems Design and Applications.

[4]  Hongxing Wei,et al.  Global path planning for mobile robot based on A∗ algorithm and genetic algorithm , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[5]  Sven Koenig,et al.  A Project on Any-Angle Path Planning for Computer Games for “ Introduction to Artificial Intelligence ” Classes , 2010 .

[6]  Hui Liu,et al.  A floyd-genetic algorithm based path planning system for mobile robots in laboratory automation , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[7]  Chen-Chien Hsu,et al.  Path planning for robot navigation based on Cooperative Genetic Optimization , 2014, Proceedings of the 11th IEEE International Conference on Networking, Sensing and Control.

[8]  Kalyanmoy Deb,et al.  Multi-objective optimal path planning using elitist non-dominated sorting genetic algorithms , 2012, Soft Computing.

[9]  José Antonio Cruz-Ledesma,et al.  Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle , 2014 .

[10]  Steven M. LaValle,et al.  Rapidly-Exploring Random Trees: Progress and Prospects , 2000 .

[11]  M. Todorovski,et al.  An initialization procedure in solving optimal power flow by genetic algorithm , 2006, IEEE Transactions on Power Systems.

[12]  Lianyang Ma,et al.  A Static Environment-Based Path Planning Method by Using Genetic Algorithm , 2010, 2010 International Conference on Computing, Control and Industrial Engineering.

[13]  Jie Zhao,et al.  A modified genetic algorithm for global path planning of searching robot in mine disasters , 2009, 2009 International Conference on Mechatronics and Automation.

[14]  Dorothea Heiss-Czedik,et al.  An Introduction to Genetic Algorithms. , 1997, Artificial Life.

[15]  Janusz Kacprzyk,et al.  A memetic algorithm based procedure for a global path planning of a movement constrained mobile robot , 2013, 2013 IEEE Congress on Evolutionary Computation.

[16]  Mansoor Davoodi Monfared,et al.  Multi-objective path planning in discrete space , 2013, Appl. Soft Comput..

[17]  Simon X. Yang,et al.  A knowledge based genetic algorithm for path planning of a mobile robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[18]  Jaesung Lee,et al.  Fast genetic algorithm for robot path planning , 2013 .

[19]  Yong Xie,et al.  Path planning for multiple mobile robots under double-warehouse , 2014, Inf. Sci..

[20]  Adem Tuncer,et al.  Dynamic path planning of mobile robots with improved genetic algorithm , 2012, Comput. Electr. Eng..

[21]  Francisco J. Rodríguez,et al.  Arbitrary function optimisation with metaheuristics , 2012, Soft Comput..

[22]  Francisco J. Rodríguez,et al.  An artificial bee colony algorithm for the maximally diverse grouping problem , 2013, Inf. Sci..

[23]  Shi-Gang Cui,et al.  Detecting Robots Path Planning Based on Improved Genetic Algorithm , 2013, 2013 Third International Conference on Instrumentation, Measurement, Computer, Communication and Control.

[24]  Jack Bresenham,et al.  Algorithm for computer control of a digital plotter , 1965, IBM Syst. J..

[25]  Ching-Chih Tsai,et al.  Parallel Elite Genetic Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigation , 2011, IEEE Transactions on Industrial Electronics.

[26]  Soh Chin Yun,et al.  Improved genetic algorithms based optimum path planning for mobile robot , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[27]  Mahmood Naderan-Tahan,et al.  Efficient and safe path planning for a Mobile Robot using genetic algorithm , 2009, 2009 IEEE Congress on Evolutionary Computation.

[28]  Jong-Hwan Kim,et al.  Evolutionary multi-objective optimization in robot soccer system for education , 2009, IEEE Computational Intelligence Magazine.

[29]  Sebastian Engell,et al.  Systematic Initialization Techniques for Hybrid Evolutionary Algorithms for Solving Two-Stage Stochastic Mixed-Integer Programs , 2011, IEEE Transactions on Evolutionary Computation.

[30]  Naoyuki Kubota,et al.  Bacterial memetic algorithm for offline path planning of mobile robots , 2012, Memetic Comput..

[31]  Anis Koubaa,et al.  Global path planning for mobile robots in large-scale grid environments using genetic algorithms , 2013, 2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR).

[32]  Anthony Stentz,et al.  Optimal and efficient path planning for partially-known environments , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[33]  Yangsheng Xu,et al.  A generalized 3-D path planning method for robots using Genetic Algorithm with an adaptive evolution process , 2010, World Congress on Intelligent Control and Automation.

[34]  Mohd Fauzi Othman,et al.  Global Path Planning for Autonomous Mobile Robot Using Genetic Algorithm , 2013, 2013 International Conference on Signal-Image Technology & Internet-Based Systems.

[35]  David Furcy,et al.  Lifelong Planning A , 2004, Artif. Intell..

[36]  Stefano Carpin,et al.  A genetic algorithm for nonholonomic motion planning , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.