| Cooperative co-evolution based distributed path planning of multiple mobile robots |
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| 作者姓名： | 王梅 吴铁军 |
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| 作者单位： | Institute of Intelligent Systems ＆ Decision Making, Zhejiang University, Hangzhou 310027, China |
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| 摘 要： | This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution, which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2D path planning problems.
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| 关 键 词： | 机器人技术 运动控制 只能技术 分布式路径设计 |
| 收稿时间： | 2004-08-08 |
| 修稿时间： | 2004-10-02 |
Cooperative co-evolution based distributed path planning of multiple mobile robots |
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| Wang Mei,Wu Tie-jun.Cooperative co-evolution based distributed path planning of multiple mobile robots[J].Journal of Zhejiang University Science,2005,6(7):697-706. |
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| Authors: | Wang Mei Wu Tie-jun |
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| Institution: | 1. Institute of Intelligent Systems & Decision Making, Zhejiang University, 310027, Hangzhou, China
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| Abstract: | This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems. |
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| Keywords: | Cooperative co-evolution Multiple mobile robot Cooperative collision avoidance Path planning |
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