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《Electronics Optics & Control》 2006-03
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Environment model based path planning for mobile robot

SONG Cai-yun,WANG Ming-lei,LIU Xiao-lin(Mechatronics and Automation School,National University of Defence Technology,Changsha 410073,China)  
This paper presents a new path planning approach based on genetic algorithm.First,MAKLINK Graph is used for modeling the working space,an approximate shortest path of mobile robot is determined by using Dijkstra algorithm.Path can be found easily with simple genetic algorithm by adjusting the nodes of the approximate one.Then genetic algorithm is used for obtaining the optimum path.Results of simulation show that this path planning method is feasible with improved quality.
【CateGory Index】: TP242
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