An Approach To Safe Path Planning For Mobile Robot In The Dynamic Environment Based On Compact Maps

For path planning of the mobile robot in dynamic environment, this paper proposed an approach to safe path planning based on compact maps. This algorithm utilizes an efficient stream decimation algorithm of massive mesh to build compact maps of the environment models. And it uses a knowledge based genetic algorithm to find the global optimal safe path. The fitness of the algorithm is linear with gap, and has less computation demand. The proposed knowledge based genetic algorithm incorporates the domain knowledge into its initial population and adjusts adaptively the parameter, which increases greatly the efficiency of the algorithm, in order to plan safe path of the mobile robot in the dynamic environment. Various simulation results show the effectiveness and efficiency of the presented method.