Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots

Autor:	Caroline A. D. Silva, Átila V. F. M. de Oliveira, Marcelo A. C. Fernandes
Jazyk:	angličtina
Rok vydání:	2018
Předmět:	genetic algorithms mobile robots autonomous navigation dynamic planning Chemical technology TP1-1185
Zdroj:	Sensors, Vol 18, Iss 12, p 4322 (2018)
Druh dokumentu:	article
ISSN:	1424-8220
DOI:	10.3390/s18124322
Popis:	This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots.
Databáze:	Directory of Open Access Journals
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