TY - GEN
T1 - A modified genetic algorithm for global path planning of searching robot in mine disasters
AU - Zhao, Jie
AU - Zhu, Lei
AU - Liu, Gangfeng
AU - Liu, Gang
AU - Han, Zhenfeng
PY - 2009
Y1 - 2009
N2 - A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information System) which can be obtained from the mine in advance. Using the position information feedback from the Ant Colony Optimization and priority grouping, we present a new efficient method to generate the initial population. Four traditional genetic operators and a fitness function are designed to find the optimum path planning. To avoid the premature, we make some changes to the mutation operators, and self-adaptively adjust the probabilities of crossover and mutation. The simulation is carried out in MATLAB, and the result verifies that it can acquire better collision-free path in higher speed.
AB - A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information System) which can be obtained from the mine in advance. Using the position information feedback from the Ant Colony Optimization and priority grouping, we present a new efficient method to generate the initial population. Four traditional genetic operators and a fitness function are designed to find the optimum path planning. To avoid the premature, we make some changes to the mutation operators, and self-adaptively adjust the probabilities of crossover and mutation. The simulation is carried out in MATLAB, and the result verifies that it can acquire better collision-free path in higher speed.
KW - Genetic algorithm
KW - Global path planning
KW - Position information feedback and priority grouping
KW - Searching robot
KW - Self-adaptive probabilities
UR - https://www.scopus.com/pages/publications/77449090630
U2 - 10.1109/ICMA.2009.5246026
DO - 10.1109/ICMA.2009.5246026
M3 - 会议稿件
AN - SCOPUS:77449090630
SN - 9781424426935
T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
SP - 4936
EP - 4940
BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Y2 - 9 August 2009 through 12 August 2009
ER -