Path planning strategy for autonomous mobile robot navigation using Petri-GA optimisation

Authors:
Jagadish Chandra Mohanta;Dayal Ramakrushna Parhi;Saroj Kumar Patel
Affiliations:
Mechanical Engineering Division, C.P.R.I., Bangalore 560 080, India;Department of Mechanical Engineering, N.I.T., Rourkela 769 008, India;Department of Mechanical Engineering, N.I.T., Rourkela 769 008, India
Venue:
Computers and Electrical Engineering
Year:
2011

Citing 13
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Abstract

In this paper, a novel knowledge based genetic algorithm (GA) for path planning of multiple robots for multiple targets seeking behaviour in presence of obstacles is proposed. GA technique has been incorporated in Petri-Net model to make an integrated navigational controller. The proposed algorithm is based upon an iterative non-linear search, which utilises matches between observed geometry of the environment and a priori map of position locations, to estimate a suitable heading angle, there by correcting the position and orientation of the robots to find targets. This knowledge based GA is capable of finding an optimal or near optimal robot path in complex environments. The Petri-GA model can handle inter robot collision avoidance more effectively than the stand alone GA. The resulting navigation algorithm has been implemented on real mobile robots and tested in various environments to validate the developed control scheme.