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Dr. Hussein Hamdy Hussein Shehata :: Publications:

Potential Field Multi-Objective Optimization For Robot Path Planning Using Genetic Algorithm
Authors: Hussein Shehata; Josef Schlattmann
Year: 2014
Keywords: Autonomous Navigation; Path Planning; Potential Field Algorithm; Non-Dominated Sorting Genetic Algorithm
Journal: 17th International Conference on Climbing and Walking Robots and the Supported Technologies for Mobile Machines (CLAWAR 2014)
Volume: Not Available
Issue: Not Available
Pages: 149-158
Publisher: World Scientific Publisher
Local/International: International
Paper Link:
Full paper Hussein Hamdy Hussein Shehata_CLAWAR2014_paper.pdf
Supplementary materials Not Available

Path planning and autonomous navigation algorithms play a vital role in the field of robotics. Amongst these, the potential field algorithm is widely used due to its elegant mathematical model. Although it serves the basic purpose of avoiding obstacles, it is bounded by particular restrictions. The use of a virtual obstacle along with potential field algorithm is a lucrative approach to overcome these limitations. This work aims at optimizing certain parameters involved in the virtual obstacle concept by the use of Non-Dominated Sorting Genetic Algorithm II (NSGA II). It is advisable to maintain a safety margin around the obstacle and to maneuver efficiently without oscillations as it moves close to the obstacle. Furthermore, the size of the robot also affects its motion. This paper takes into account all these factors during the optimization process. The results have proven its feasibility and validity in unknown environments.

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