JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2012, Vol. 42 ›› Issue (1): 59-65.

• Articles • Previous Articles     Next Articles

Path planning of a mobile robot based on fixed-length real number encoding mechanism

YAN Xuan-hui, XIAO Guo-bao*   

  1. School of Mathematics and Computer Science, Fujian Normal University, Fuzhou 350007, China
  • Received:2011-04-15 Online:2012-02-20 Published:2011-04-15

PDF (PC)

1496

Abstract:

 Aimed at the path planning problem of a mobile robot, a novel fixed-length real number encoding mechanism was proposed. The first step was to make a new map between starting-point and goal-point through coordinate system transferring. Then the encoding mechanism was introduced to search for an optimized path in which the robot gets close to the target. Then a valid region for the robot was mapped out according to the location of obstacles, which could reduce the search space and further improve the efficiency. An immune simulated annealing algorithm by combining an immune optimization algorithm with simulated annealing algorithm was developed. The simulation result demonstrated that the proposed algorithm had strong global and local search ability, which could help  the robot to quickly find the optimized path.

Key words: mobile robot, path planning, valid region, fixed-length real number encoding

[1] LI Xiaohui, LIU Xiaofei, SUN Weitong, ZHAO Yi, DONG Yuan, JIN Yinli. An inspection task assignment and path planning algorithm based on vehicles-UAVs collaboration [J]. Journal of Shandong University(Engineering Science), 2025, 55(5): 101-109.
[2] ZHAO Hongzhuan, ZHANG Xin, ZHANG Beiling, ZHAN Xin, LI Wenyong, YUAN Quan, WANG Tao, ZHOU Dan. Adynamic safe elliptical path planning method for intelligent vehicles based on improved artificial potential field [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 46-57.
[3] HAN Yi, LIU Yichao, GUAN Tian, LAN Liwen, TANG Ningye. Improved A* and dynamic window approach for unmanned vehicle path planning [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 16-24.
[4] Hao XIAO,Zhuhua LIAO,Yizhi LIU,Silin LIU,Jianxun LIU. Unmanned vehicle path planning based on deep Q learning in real environment [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 100-107.
[5] Caihong LI,Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG. Complete coverage path planning for mobile robots based on hyperchaotic synchronization control [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 63-72.
[6] Meizhen LIU,Fengyu ZHOU,Ming LI,Yugang WANG,Ke CHEN. The composite control of backstepping control based on uncertain model compensation of wheeled mobile robot [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 36-44.
[7] Fengyu ZHOU, Fang WAN, Jiancheng JIAO, Junjian BIAN. Design for autonomous charging system of family companion robot [J]. Journal of Shandong University(Engineering Science), 2019, 49(1): 55-65.
[8] Qiang ZHANG. Motion control system design of multi-joint snake-like manipulator for nuclear environment [J]. Journal of Shandong University(Engineering Science), 2018, 48(6): 122-131.
[9] LIU Bin, ZHANG Ren-jin. A path planning method using two-stage particle swarm optimization [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(1): 12-18.
[10] CHEN Ming-zhi1, XU Chun-yao2, CHEN Jian2, YU Lun2. Path planning based on semantic information in virtual environment [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(4): 106-112.
[11] TIAN Guo-hui, ZHANG Tao-tao*, WU Hao, XUE Ying-hua, ZHOU Feng-yu. Robot navigation in a large scale environment based on distributed navigation information [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(1): 24-31.
[12] SUN Yi, XIAO Ji-zhong*, Flavio Cabrera-Mora. Robotic localization and power-efficient wireless networking by using multiple antennas [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(4): 29-35.
[13] LI Yi-bin1, LI Cai-hong1,2, SONG Yong1. Adaptive behavior design based on FNN for the mobile robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(2): 28-33.
[14] NIU Jun,LI Yi-bin,SONG Rui . A two-step self-localization method for mobile robots based on laser information [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2007, 37(3): 46-50 .
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[2] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[3] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[4] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[5] WANG Bo,WANG Ning-sheng . Automatic generation and combinatory optimization of disassembly sequence for mechanical-electric assembly[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 52 -57 .
[6] ZHANG Ying,LANG Yongmei,ZHAO Yuxiao,ZHANG Jianda,QIAO Peng,LI Shanping . Research on technique of aerobic granular sludge cultivationby seeding EGSB anaerobic granular sludge[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 56 -59 .
[7] Yue Khing Toh1， XIAO Wendong2， XIE Lihua1. Wireless sensor network for distributed target tracking: practices via real test bed development[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 50 -56 .
[8] SUN Weiwei， WANG Yuzhen. Finite gain stabilization of singlemachine infinite bus system subject to saturation[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 69 -76 .
[9] SUN Yu-li,LI De-fa,ZUO Dun-wen,QI mei . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(6): 19 -23 .
[10] WANG Yong, XIE Yudong. Gas control technology of largeflow pipe[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 70 -74 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd