
High-performance Navigation System for Mobile RobotsHigh-performance Navigation System for Mobile Robots 273
12.4.2 Phase 2: Complete navigation system with artiϔicial
potential ϔield and genetic algorithms
In this second phase the navigation system made in the previous phase was
improved by integrating a binary genetic algorithm, which is responsible
for calculating the proportional gains k
a
and k
r
automatically, on the basis
of the initial position information and the target position set by the user.
Based on the above, the whole process is done autonomously; the process
is shown in Fig. 12.11.
The process begins by setting the starting position ...