Pattern-Based Genetic Algorithm Approach to Coverage Path Planning for Mobile Robots

Creative Commons License

KAPANOĞLU M., ÖZKAN M., YAZICI A., PARLAKTUNA O.

9th International Conference on Computational Science, Louisiana, Amerika Birleşik Devletleri, 25 - 27 Mayıs 2009, cilt.5544, ss.33-42 identifier identifier

  • 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
  • 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.