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Published in:
2012 | OriginalPaper | Chapter
Path Planning in Probabilistic Environment by Bacterial Memetic Algorithm
Authors : János Botzheim, Yuichiro Toda, Naoyuki Kubota
Published in: Intelligent Interactive Multimedia: Systems and Services
Publisher: Springer Berlin Heidelberg
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The goal of the path planning problem is to determine an optimal collision-free path between a start and a target point for a mobile robot in an environment surrounded by obstacles. In case of probabilistic environment not only static obstacles obstruct the free passage of the robot, but there are appearances of obstacles with probability. The problem is approached by the bacterial memetic algorithm. The objective is to minimize the path length and the number of turns without colliding with an obstacle. Our method is able to generate a collision-free path in probabilistic environment. The proposed algorithm is tested by simulations.