12

Robotic Path-Planning in Dynamic and Uncertain Environment Using Genetic Algorithm

G. K. Singh and Ajith K. Gopal

CONTENTS

12.1    Introduction

12.2    Path Representation in 2-D

12.3    Representation of Dynamic Obstacles

12.4    Obstacles with Axis-Aligned Bounding Boxes

12.5    Implementation of Path-Planning with Genetic Algorithm

12.5.1    Numerical Simulation Example

12.6    Motion-Planning Using GA

12.7    Concluding Remarks

References

12.1    INTRODUCTION

Robotic navigation encompasses (1) motion-planning which includes dynamical modelling and (2) path-planning which restricts itself to spatial and geometrical modelling. Motion-planning is used mainly in real-time guidance applications and deals with generating a feedback ...

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