Title: Robotic path planning using hybrid genetic algorithm particle swarm optimisation

Authors: Rahul Kala; Anupam Shukla; Ritu Tiwari

Addresses: Soft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Morena Link Road, Gwalior, Madhya Pradesh – 474010, India. ' Soft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Morena Link Road, Gwalior, Madhya Pradesh – 474010, India. ' Soft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Morena Link Road, Gwalior, Madhya Pradesh – 474010, India

Abstract: The problem of robotic path planning has always attracted the interests of a significantly large number of researchers due to the various constraints and issues related to it. The optimisation in terms of time and path length and validity of the non-holonomic constraints, especially in large sized maps of high resolution, pose serious challenges for the researchers. In this paper we propose hybrid genetic algorithm particle swarm optimisation (HGAPSO) algorithm for solving the problem. Diversity preservation measures are introduced in this applied evolutionary technique. The novelty of the algorithm is threefold. Firstly, the algorithm generates paths of increasing complexity along with time. This ensures that the algorithm generates the best path for any type of map. Secondly, the algorithm is efficient in terms of computational time which is done by introducing the concept of momentum-based exploration in its fitness function. The indicators contributing to fitness function can only be measured by exploring the path represented. This exploration is vague at start and detailed at the later stages. Thirdly, the algorithm uses a multi-objective optimisation technique to optimise the total path length, the distance from obstacle and the maximum number of turns. These multi-objective parameters may be altered according to the robot design.

Keywords: robot path planning; robotics; evolutionary algorithms; hybrid GA-PSO; genetic algorithms; particle swarm optimisation; GAs; PSO; HGAPSO; momentum; diversity preservation; information technology; multi-objective optimisation; robot navigation; autonomous robots; mobile robots.

DOI: 10.1504/IJICT.2012.048756

International Journal of Information and Communication Technology, 2012 Vol.4 No.2/3/4, pp.89 - 105

Available online: 29 Aug 2012 *

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