Pattern-Based Genetic Algorithm Approach to Coverage Path Planning for Mobile Robots
9th International Conference on Computational Science, Louisiana, Amerika Birleşik Devletleri, 25 - 27 Mayıs 2009, cilt.5544, ss.33-42, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 5544
- Doi Numarası: 10.1007/978-3-642-01970-8_4
- Basıldığı Şehir: Louisiana
- Basıldığı Ülke: Amerika Birleşik Devletleri
- Sayfa Sayıları: ss.33-42
- Anahtar Kelimeler: Genetic algorithms, Coverage path planning, Mobile robot
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Eskişehir Osmangazi Üniversitesi Adresli: Evet
Özet
Sensor-based mobile robot coverage path planning (MRCPP) problem is a challenging problem in robotic management. We here develop a genetic algorithm (GA) for MRCPP problems. The area subject to coverage is modeled with disks representing the range of sensing devices. Then the problem is defined as finding a Path which runs through the center of each disk at least once with minimal cost of full coverage. The proposed GA utilizes prioritized neighborhood-disk information to generate practical and high-quality paths For the mobile robot. Prioritized movement patterns are designed to generate efficient rectilinear coverage paths with no narrow-angle turn; they enable GA to find optimal or near-optimal Solutions. The results of GA are compared with a well-known approach called backtracking spiral algorithm (BSA). Experiments are also carried Out using P3-DX mobile robots in the laboratory environment.