Hybrid evolutionary motion planning using follow boundary repair for mobile robots

This paper presents a hybrid evolutionary motion planning simulation system for mobile robots operating in unstructured environments. We have designed a new obstacle representation method named cross-line, a follow boundary r epair approach, and a hybrid evolutionary motion planning algorithm. A high -level navigator uses the approach and algorithms to implement mobile robot motion planning in various environments. An interactive graphical user int erface is developed and the DLL technique is used to implement this system. A group of experiments was conducted. The results demonstrate that this sy stem has high performance, effectiveness and flexibility. (C) 2001 Elsevier Science B.V. All rights reserved.