Paper Info
Title
Global Robot Path Planning Using Ga For Large Grid Maps: Modelling, Performance And Experimentation
Abstract
In this paper, 1 the efficiency of genetic algorithm (GA) approach to address the problem of global path planning for mobile robots in large-scale grid environments is revisited and assessed. First, an efficient GA path planner to find an (or near) optimal path in a grid map is proposed. In particular, large maps instances are considered in this work, as small maps are easy to address by typical linear-time exact algorithms, in contrast to large maps, which require more intensive computations. The operators of the GA planner were carefully designed for optimizing the search process. Also, extensive simulations to evaluate the GA planner are conducted, and its performance is compared to that of the A* algorithm considered as benchmarking reference. We found out that the GA planner can find optimal solutions in the same way as A* in large grid maps in most cases, but A* is faster than the GA. This is because GA is not a constructive path planner and heavily relies on initial population to explore the space of solutions in contrast to A* that builds its solution progressively towards the target. It was concluded that, although GA can provide an alternative to A* technique, it is likely that they are not efficient enough to beat exact methods such as A* when used with a consistent heuristic. The GA planner is integrated in the global path planning modules of the Robot Operating System (ROS), its feasibility is demonstrated, and its performance is compared against the default ROS planner.
Year
DOI
Venue
2016
10.2316/Journal.206.2016.6.206-4602
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
Keywords
Field
DocType
Mobile robots, genetic algorithms, global path planning, ROS
Any-angle path planning,Computer science,Robot path planning,Control engineering,Artificial intelligence,Mobile robot,Grid,Genetic algorithm
Journal
Volume
Issue
ISSN
31
6
0826-8185
Citations 
PageRank 
References 
0
0.34
0
Authors
6
Name
Order
Citations
PageRank
Maram Alajlan1101.04
Imen Châari210.71
Anis Koubía3414.58
Hachemi Bennaceur410813.05
Adel Ammar5142.15
Habib Youssef661866.95