Global robot Path Planning using GA for Large Grid Maps: Modelling, Performance and Experimentation

• Autor(a) principal: Alajlan, Maram
• Data de Publicação: 2016
• Outros Autores: Chaari, Imen, Koubâa, Anis, Bennaceur, Hachemi, Ammar, Adel, Youssef, Habib
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.22/9221
• topic: Mobile robots; Genetic algorithms; Global path planning

In this paper, the efficiency of genetic algorithm (GA) approach to address the problem of global path planning for mobile robots in large-scale grid environments is revisited and assessed. First, an efficient GA path planner to find an (or near) optimal path in a grid map is proposed. In particular, large maps instances are considered in this work, as small maps are easy to address by typical linear-time exact algorithms, in contrast to large maps, which require more intensive computations. The operators of the GA planner were carefully designed for optimizing the search process. Also, extensive simulations to evaluate the GA planner are conducted, and its performance is compared to that of the A algorithm considered as benchmarking reference. We found out that the GA planner can find optimal solutions in the same way as A in large grid maps in most cases, but A is faster than the GA. This is because GA is not a constructive path planner and heavily relies on initial population to explore the space of solutions in contrast to A that builds its solution progressively towards the target. It was concluded that, although GA can provide an alternative to A technique, it is likely that they are not efficient enough to beat exact methods such as A when used with a consistent heuristic. The GA planner is integrated in the global path planning modules of the Robot Operating System (ROS), its feasibility is demonstrated, and its performance is compared against the default ROS planner.