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Chromosome Coding Methods in Genetic Algorithm for Path Planning of Mobile Robots

Conference paper

Abstract

In this study, various chromosome coding methods are analyzed for genetic algorithm to solve path planning problem of mobile robots. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. Genetic algorithms have been widely used to generate an optimal path by taking the advantage of its strong optimization ability. Binary, decimal and orderly numbered grids coding methods are used to create chromosomes in this study. Path distance, generation number and solution time parameters are observed and compared for the three coding methods under the same conditions. Results showed that the solution time is directly affected by chromosome coding method.

Keywords

Genetic algorithm Path planning Mobile robot 

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Copyright information

© Springer-Verlag London Limited  2011

Authors and Affiliations

  1. 1.Networked Control Systems Laboratory, Technical Education FacultyKocaeli UniversityUmuttepe/KocaeliTurkey

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