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Erschienen in:
1998 | ReviewPaper | Buchkapitel
A genetic algorithm for robust motion planning
verfasst von : Domingo Gallardo, Otto Colomina, Francisco Flórez, Ramón Rizo
Erschienen in: Tasks and Methods in Applied Artificial Intelligence
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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This paper proposes a solution by genetic algorithms to the problem of planning a robust and suboptimal trajectory in the velocity space of a mobile robot. Robust trajectories are obtained introducing cumulative noise in the evaluation of the fitness function and introducing modifications in the genetic algorithm to taking into account this new feature. Results are presented that show the performance of the algorithm in different environments and the influence of the noise in the planned trajectories.