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Evolutionary Path Planning for Robot Navigation Under Varying Terrain Conditions

Evolutionary Path Planning for Robot Navigation Under Varying Terrain Conditions

Terrence P. Fries
Copyright: © 2009 |Pages: 22
ISBN13: 9781605663104|ISBN10: 1605663107|EISBN13: 9781605663111
DOI: 10.4018/978-1-60566-310-4.ch017
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MLA

Fries, Terrence P. "Evolutionary Path Planning for Robot Navigation Under Varying Terrain Conditions." Handbook of Research on Artificial Immune Systems and Natural Computing: Applying Complex Adaptive Technologies, edited by Hongwei Mo, IGI Global, 2009, pp. 361-382. https://doi.org/10.4018/978-1-60566-310-4.ch017

APA

Fries, T. P. (2009). Evolutionary Path Planning for Robot Navigation Under Varying Terrain Conditions. In H. Mo (Ed.), Handbook of Research on Artificial Immune Systems and Natural Computing: Applying Complex Adaptive Technologies (pp. 361-382). IGI Global. https://doi.org/10.4018/978-1-60566-310-4.ch017

Chicago

Fries, Terrence P. "Evolutionary Path Planning for Robot Navigation Under Varying Terrain Conditions." In Handbook of Research on Artificial Immune Systems and Natural Computing: Applying Complex Adaptive Technologies, edited by Hongwei Mo, 361-382. Hershey, PA: IGI Global, 2009. https://doi.org/10.4018/978-1-60566-310-4.ch017

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Abstract

Path planning is an essential component in the control software for an autonomous mobile robot. Evolutionary strategies are employed to determine optimal paths for their robustness and ability to solve complex problems. However, current evolutionary approaches fail to consider varying terrain conditions when determining an optimal path and offer only path planning without trajectory planning. This chapter presents an approach that determines a near optimal path while incorporating trajectory planning in the solution. Fuzzy linguistic variables are used represent the inherent imprecision and uncertainty in the terrain conditions presented to the robot. Most importantly, the method is computationally efficient and robust, providing real-time response and the ability to operate in a dynamic environment.

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