Wheeled Mobile Robot Trajectory Planning Using Evolutionary Techniques
2020 ◽
Vol 5
(3)
◽
pp. 34-38
Keyword(s):
Nsga Ii
◽
This paper proposes two multi-objective trajectory planning optimization algorithms namely Multi-Objective Differential Evolution (MODE) and Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II). They are applied for a differential drive wheels mobile robot (WMR). A cubic NURBS curve is used to constitute the mobile robot’s path. The objective functions considered are travel time, traveled length, and actuators' efforts. All objective functions are to be minimized. The constraints considered are the mobile robot’s kinematic limits, obstacle avoidance, and dynamic limits. Two Stationary and five moving obstacles are present around the robot. Experimental and numerical simulation results are examined and compared.