Publication: Cognitive map approach for mobility path optimization using multiple objectives genetic algorithm
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Date
2009
Authors
Krishnan P.S.
Paw J.K.S.
Kiong T.S.
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Abstract
This paper describes the evolutionary planning strategies for mobile robot to move along the streamlined collision-free paths in a known static environment. The Cognitive Map method is combined with genetic algorithm to derive the mobile robot optimal moving path towards its goal functions. In this study, multi-objectives genetic algorithm (MOGA) is utilized due to there are more than one objective need to be achieved while planning for the robot moving path. Goal-factor and obstacle-factor are the key parameters incorporated in the MOGA fitness functions. The simulation results showed that the hybrid Cognitive Map approach with MOGA is capable of navigating a robot situated among non-moving obstacles. The proposed hybrid method demonstrates good performance in planning and optimizing mobile robot moving path with stationary obstacles and goal. �2009 IEEE.
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Keywords
Cognitive map approach , Mobile robots , Multiple objective genetic algorithm , Path optimization , Autonomous agents , Conformal mapping , Function evaluation , Genetic algorithms , Mobile robots , Optimization , Cognitive map approach , Cognitive maps , Collision-free paths , Fitness functions , Goal functions , Hybrid method , Key parameters , Moving obstacles , Moving path , Multi objective , Multiple objective genetic algorithm , Multiple objectives , Path optimization , Path optimizations , Planning strategies , Simulation result , Static environment , Stationary obstacles , Navigation