In this paper we present a motion planning algorithm that combines between Probabilistic Roadmaps (PRM) and Hierarchical Genetic Algorithms (HGA) in order to generate optimal motions for a non holonomic mobile robot. PRM are used to generate a set of paths that will be optimized by HGA, the obtained trajectory leads a non holonomic mobile robot from an initial to a final configuration while maintaining feasibility and no-collision with obstacles.
CITATION STYLE
Lakhdari, A., & Achour, N. (2015). Probabilistic roadmaps and hierarchical genetic algorithms for optimal motion planning. Studies in Computational Intelligence, 591, 321–334. https://doi.org/10.1007/978-3-319-14654-6_20
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