GA-based Global Path Planning for Mobile Robot Employing A* Algorithm
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| Title | GA-based Global Path Planning for Mobile Robot Employing A* Algorithm |
| Authors | |
| Abstract | Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free space model of mobile robots firstly, then Dijkstra algorithm is utilized for finding a feasible collision-free path, finally the global optimal path of mobile robots is obtained based on the hybrid algorithm of A* algorithm and genetic algorithm. Experimental results indicate that the proposed algorithm has better performance than Dijkstra algorithm in term of both solution quality and computational time, and thus it is a viable approach to mobile robot global path planning. |
| Publisher | ACADEMY PUBLISHER |
| Date | 2012-02-01 |
| Source | Journal of Computers Vol 7, No 2 (2012) |
| Rights | Copyright © ACADEMY PUBLISHER - All Rights Reserved.To request permission, please check out URL: http://www.academypublisher.com/copyrightpermission.html. |