An evolutionary navigator for autonomous agents on unknown large-scale environments

  • Alfaro T
  • Riff M
  • 2


    Mendeley users who have this article in their library.
  • 3


    Citations of this article.


Computation of a collision-free path for a movable object among obstacles is an important problem in the fields of robotics. In previous research we have introduced an evolutionary algorithm for a robot moving on a known map considering a 4-connected grid model, and we have obtained encouraging results. In this paper, we focus our attention on a more complex motion planning problem: An autonomous agent with a limited sensor capability which is moving in a completely unknown large-scale environment. We introduce an evolutionary approach that has shown some adaptation abilities due to its constant update of its environment knowledge, and replanning only when it is strictly required. We compare our approach for various map sizes to a very well-known evolutionary algorithm and to the complete approach D* Lite. Our algorithm outperforms them in both CPU time and in the number of re-plannings.

Author-supplied keywords

  • Evolutionary Robotics
  • Large-Scale Maps

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Teddy Alfaro

  • María Cristina Riff

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free