Neural network and genetic algorithm based global path planning in a static environment
- 1 June 2005
- journal article
- Published by Zhejiang University Press in Journal of Zhejiang University-SCIENCE A
- Vol. 6 (6), 549-554
- https://doi.org/10.1631/jzus.2005.A0549
Abstract
Mobile robot global path planning in a static environment is an important problem. The paper proposes a method of global path planning based on neural network and genetic algorithm. We constructed the neural network model of environemntal information in the workspace for a robot and used this model to establish the relationship between a collision avoidance path and the output of the model. Then the two-dimensional coding for the path via-points was converted to one-dimensional one and the fitness of both the collision avoidance path and the shortest distance are integrated into a fitness function. The simulation results showed that the proposed method is correct and effective.Keywords
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