GA-Based Optimal Waypoint Design for Improved Path Following of Mobile Robot

  • Jae-Seok YoonEmail author
  • Byung-Cheol Min
  • Seong-Og Shin
  • Won-Se Jo
  • Dong-Han Kim
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 274)


Mobile robot can follow the planned path using a waypoint following guidance scheme. As this type of guidance scheme only uses the position of waypoints to navigate the path, the waypoint following is relatively simple and efficient to implement. However, it is non-trivial to determine the number and size of waypoints, which heavily affect the performance of robot. Thus, we tackle the problem of finding the optimal number and size of waypoints in this paper. For this optimization problem, we use genetic algorithm, where the effectiveness of the proposed method is verified in MATLAB simulation. The proposed method shows that mobile robot effectively navigates the planned path and successfully reaches the destination with the minimum path following error and travel time.


Waypoints mobile robot navigation limit-cycle genetic algorithm 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Jae-Seok Yoon
    • 1
    Email author
  • Byung-Cheol Min
    • 2
  • Seong-Og Shin
    • 1
  • Won-Se Jo
    • 1
  • Dong-Han Kim
    • 1
  1. 1.Department of Electronics and Radio EngineeringKyung-Hee UniversityYonginRepublic of Korea
  2. 2.Department of Computer and Information TechnologyPurdue UniversityWest LafayetteUSA

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