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Evolutionary Algorithms-Based Multi-Objective Optimal Mobile Robot Trajectory Planning

Published online by Cambridge University Press:  07 March 2019

V. Sathiya Open the ORCID record for V. Sathiya [Opens in a new window]  and
M. Chinnadurai
V. Sathiya*
Affiliation:
Department of Electronics and Communication Engineering, E.G.S. Pillay Engineering College, Nagapattinam, Tamil Nadu 611002, India
M. Chinnadurai
Affiliation:
Department of Computer Science and Engineering, E.G.S. Pillay Engineering College, Nagapattinam, Tamil Nadu 611002, India E-mail: mchinna81@gmail.com
*
*Corresponding author. E-mail: sathiyav2105@gmail.com
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Summary

In this research study, trajectory planning of mobile robot is accomplished using two techniques, namely, a new variant of multi-objective differential evolution (heterogeneous multi-objective differential evolution) and popular elitist non-dominated sorting genetic algorithm (NSGA-II). For this research problem, a wheeled mobile robot with differential drive is considered. A practical, feasible and optimal trajectory between two locations in the presence of obstacles is determined through the proposed algorithms. A safer path is obtained by optimizing certain objectives (travel time and actuators effort) taking into account the limitations of mobile robot’s geometric, kinematic and dynamic parameters. Robot motion is represented by a cubic NURBS trajectory curve. The capability of the proposed optimization techniques is analyzed through numerical simulations. Results ensure that the proposed techniques are more desirable for this problem.

Keywords

Wheeled mobile robotDifferential driveOptimal trajectoryHMODENSGA-IINURBS
Type
Articles
Information
Robotica , Volume 37 , Issue 8 , August 2019 , pp. 1363 - 1382
Copyright
© Cambridge University Press 2019 

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