Virtual Obstacle Parameter Optimization for Mobile Robot Path PlanningA Case Study

Path planning algorithms are widely used in the field of robotics. Potential field algorithm in particular is widely employed owing to its simple and elegant mathematical model as well as computational efficiency. The primary purpose of getting rid of obstacles and movement towards the goal is met out. However it is also has certain limitations. In order to get rid of these limitations, the field algorithm is used along with a virtual obstacle. In this paper genetic algorithm is used to optimize an important parameter. The proposal convergence is elaborated to emphasize its reliability. The simulation results proved that the results are feasible and valid.