Autonomous Robot Navigation using Genetic Algorithms
نویسنده
چکیده
In this paper is presented a navigation scheme, based on a genetic algorithm, for autonomous robot navigation. Potential fields are used to attract the robot by the goal position and reject it by the obstacles. In the scheme presented here obstacles are automatically detected by simulated sonar sensors. The configuration of the optimum potential field is determined by the genetic algorithm. Intermediate goal points are used for global path planning. Simulation results show that the scheme reported has a good performance in unknown environments with high obstacle densities. Key-Words: Automatic guided vehicles, Robot navigation, genetic algorithms, potential fields
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