Sensor-based path planning and intelligent steering control of nonholonomic mobile robots

G. Yasuda, H. Takai
IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)  
This paper presents a control scheme for autonomous navigation of intelligent mobile robots under unstructured environments. First, using a simple genetic algorithm, the path planning module generates an obstacle-free path as a sequence of control vectors of orientation, considering kinematic constraints in steering control of nonholonomic wheeled mobile robots. To reduce the length of code of the gene, the change of orientation is restricted to 5 values from 45 deg to -45 deg (Fig.
doi:10.1109/iecon.2001.976501 fatcat:hbqjx26xavalxel3xtcqjxlwzm