CLC number: TP242.6
On-line Access:
Received: 2004-08-28
Revision Accepted: 2004-12-02
Crosschecked: 0000-00-00
Cited: 2
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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 A, 2005, 6(7): 697-706.
@article{title="Cooperative co-evolution based distributed path planning of multiple mobile robots",
author="WANG Mei, WU Tie-jun",
journal="Journal of Zhejiang University Science A",
volume="6",
number="7",
pages="697-706",
year="2005",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2005.A0697"
}
%0 Journal Article
%T Cooperative co-evolution based distributed path planning of multiple mobile robots
%A WANG Mei
%A WU Tie-jun
%J Journal of Zhejiang University SCIENCE A
%V 6
%N 7
%P 697-706
%@ 1673-565X
%D 2005
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2005.A0697
TY - JOUR
T1 - Cooperative co-evolution based distributed path planning of multiple mobile robots
A1 - WANG Mei
A1 - WU Tie-jun
J0 - Journal of Zhejiang University Science A
VL - 6
IS - 7
SP - 697
EP - 706
%@ 1673-565X
Y1 - 2005
PB - Zhejiang University Press & Springer
ER -
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.
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