Robot Path Planning Based on Dijkstra’s Algorithm and Genetic Algorithm
In this paper, a robot path planning method based on Dijkstra’s Algorithm and Genetic Algorithms is proposed. This method works for any appointed start point and end point in an arbitrary rectangular workspace with arbitrary rectangular obstacles whose edges are perpendicular or parallel to the walls of the workspace. Firstly, use Dijkstra’s Algorithm to find a path among all the midpoints of obstacles’ vertices and the walls of the workspace. Then use Genetic Algorithm to optimize the path gotten from Dijkstra’s Algorithm and finally generate an optimal path for the robot from the start point to the end point.
KeywordsRobot path planning Dijkstra’s algorithm Genetic algorithm
This work was supported by Major Scientific Research Project in Higher School in Hebei Province (Grant No. ZD20131085), Funding Project of Science & Technology Research and Development in Hebei North University (Grant No. ZD201301), Major Projects in Hebei Food and Drug Administration (Grant No. ZD2015017), Major Funding Project in Hebei Health Department (Grant No. ZL20140127), Youth Funding Science and Technology Projects in Hebei Higher School (Grant No. QN2016192), with Hebei Province Population Health Information Engineering Technology Research Center.
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