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Journal of Zhejiang University SCIENCE A 2005 Vol.6 No.7 P.697~706

http://doi.org/10.1631/jzus.2005.A0697


Cooperative co-evolution based distributed path planning of multiple mobile robots


Author(s):  WANG Mei, WU Tie-jun

Affiliation(s):  Institute of Intelligent Systems & Decision Making, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   mwang@iipc.zju.edu.cn, tjwu@iipc.zju.edu.cn

Key Words:  Cooperative co-evolution, Multiple mobile robot, Cooperative collision avoidance, Path planning


WANG Mei, WU Tie-jun. Cooperative co-evolution based distributed path planning of multiple mobile robots[J]. Journal of Zhejiang University Science A, 2005, 6(7): 697~706.

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author="WANG Mei, WU Tie-jun",
journal="Journal of Zhejiang University Science A",
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publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2005.A0697"
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2005.A0697

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T1 - Cooperative co-evolution based distributed path planning of multiple mobile robots
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DOI - 10.1631/jzus.2005.A0697


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 2D path planning problems.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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