Global Path Planning Based on Neural Network and Genetic Algorithm in A Static Environment

Huahua Chen, Xin Du, Weikang Gu

Abstract

Mobile robot global path planning in a static environment is an important problem all along. The paper proposes a method of global path planning based on neural network and genetic algorithm. The neural network model of environmental information in the workspace for a robot is constructed. Using this model, the relationship between a collision avoidance path and the output of the model is established. Then the two-dimensional coding for the via-points of path is converted to one-dimensional one and the fitness of the collision avoidance path and that of the shortest distance are fused to a fitness function. The simulation results show that the proposed method is correct and effective.

References

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Paper Citation


in Harvard Style

Chen H., Du X. and Gu W. (2004). Global Path Planning Based on Neural Network and Genetic Algorithm in A Static Environment . In Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004) ISBN 972-8865-14-7, pages 32-40. DOI: 10.5220/0001150700320040


in Bibtex Style

@conference{anns04,
author={Huahua Chen and Xin Du and Weikang Gu},
title={Global Path Planning Based on Neural Network and Genetic Algorithm in A Static Environment},
booktitle={Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004)},
year={2004},
pages={32-40},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001150700320040},
isbn={972-8865-14-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Workshop on Artificial Neural Networks: Data Preparation Techniques and Application Development - Volume 1: ANNs, (ICINCO 2004)
TI - Global Path Planning Based on Neural Network and Genetic Algorithm in A Static Environment
SN - 972-8865-14-7
AU - Chen H.
AU - Du X.
AU - Gu W.
PY - 2004
SP - 32
EP - 40
DO - 10.5220/0001150700320040