Vector field based robot navigation using hybrid genetic/simulated annealing algorithm
Abstract：An analytical vector field model of robot workspace was presented. In the model, the vector of resultant fielddescribed the most promising direction of robot motion. The model assumed that the edges of every obstacle, which was polygo-nal, were uniformly charged. It was shown that the resulting repulsive force, which pushing the robot away from the obstacles,could be calculated in closed form. Several factors including the length, the smoothness and the safety of the path require con-sidering in robot navigation. Thus, a hybrid optimization algorithm, HGSA, which incorporated the simulated annealing algo-rithm (SA) into the genetic algorithm (GA), was proposed to optimize the path through searching the model parameters. Theeffectiveness of the proposed model was verified by computer simulation in three workspaces with different obstacle distribution.Comparisons between the optimized results show that the hybrid algorithm obtains better path solutions than either GA or SA.
Keywords：vector field modelrobot navigationGASA
Publication Date：2003-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 657-663 )