¹Dalian University of Technology,Dalian, Liaoning,116024,China
²Key Laboratory of Advanced Design and Intelligent Computing (Dalian University),Ministry of Education Dalian, 116622, China

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Abstract—Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free space model of mobile robots firstly, then Dijkstra algorithm is utilized for finding a feasible collision-free path, finally the global optimal path of mobile robots is obtained based on the hybrid algorithm of A* algorithm and genetic algorithm. Experimental results indicate that the proposed algorithm has better performance than Dijkstra algorithm in term of both solution quality and computational time, and thus it is a viable approach to mobile robot global path planning.

Index Terms—Dijkstra algorithm, Global path-planning, Genetic Algorithm,A* Algorithm.

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Cite: Cen Zeng, Qiang Zhang, Xiaopeng Wei, "GA-based Global Path Planning for Mobile Robot Employing A* Algorithm," Journal of Computers vol. 7, no. 2, pp. 470-474, 2012.