Optimal Motion Planning Using Follow Boundary Repair and Evolutionary Search
Abstract：This paper presents an optimal motion planning system for mobile robots operating in unstructured environments. We have developed a new obstacle representation method named cross-line, a follow boundary repair approach, and a hybrid evolutionary motion planning algorithm. A group of experiments are conducted that indicate the effectiveness of follow boundary repair approach and cross-line representation. These results also demonstrate that optimal/near optimal paths can be generated through combining the follow boundary repair and evolutionary search.
Keywords：motion planningfollow boundary repairhybrid evolutionary
Publication Date：2002-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 363-368,375 )