Optimizing robot path in dynamic environments using Genetic Algorithm and Bezier Curve

Article type: Research Article

Authors: Elhoseny, Mohamed^{a; b; *} | Shehab, Abdulaziz^b | Yuan, Xiaohui^a

Affiliations: [a] Department of Computer Science and Engineering, University of North Texas, USA | [b] Faculty of Computers and Information Sciences, Mansoura University, Egypt

Correspondence: [*] Corresponding author. Mohamed Elhoseny, E-mails: mohamed.elhoseny@unt.edu, mohamed_elhoseny@mans.edu.eg.

Abstract: Robots have recently gained a great attention due to their potential to work in dynamic and complex environments with obstacles, which make searching for an optimum path on-the-fly an open challenge. To address this problem, this paper proposes a Genetic Algorithm (GA) based path planning method to work in a dynamic environment called GADPP. The proposed method uses Bezier Curve to refine the final path according to the control points identified by our GADPP. To update the path during its movement, the robot receives a signal from a Base Station (BS) based on the alerts that are periodically triggered by sensors. Compared to the state-of-the-art methods, GADPP improves the performance of robot based applications in terms of the path length, the smoothness of the path, and the required time to get the optimum path. The improvement ratio regarding the path length is between 6% and 48%. While the path smoothness is improved in the range of 8% and 52%. In addition, GADPP reduces the required time to get the optimum path by 6% up to 47%.

Keywords: Robot path planning, Bezier Curve, Genetic Algorithm, Wireless Sensor Network

DOI: 10.3233/JIFS-17348

Journal: Journal of Intelligent & Fuzzy Systems, vol. 33, no. 4, pp. 2305-2316, 2017