Planning multiple paths with evolutionary speciation

  • Hocaoĝlu C
  • Sanderson A
  • 30

    Readers

    Mendeley users who have this article in their library.
  • 101

    Citations

    Citations of this article.

Abstract

This paper demonstrates a new approach to multidimensional path planning that is based on multiresolution path representation, where explicit configuration space computation is not required, and incorporates an evolutionary algorithm for solving the multimodal optimization problem, generating multiple alternative paths simultaneously. The multiresolution path representation reduces the expected search length for the path-planning problem and accordingly reduces the overall computational complexity. Resolution independent constraints due to obstacle proximity and path length are introduced into the evaluation function. The system can be applied for planning paths for mobile robots, assembly, and articulated manipulators. The resulting path-planning system has been evaluated on problems of two, three, four, and six degrees of freedom. The resulting paths are practical, consistent, and have acceptable execution times. The multipath algorithm is demonstrated on a number of 2D path-planning problems

Author-supplied keywords

  • Evolutionary speciation
  • Path planning

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

Authors

  • Cem Hocaoĝlu

  • Arthur C. Sanderson

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free