Volume 7 Number 2 (Feb. 2012)
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JCP 2012 Vol.7(2): 470-474 ISSN: 1796-203X
doi: 10.4304/jcp.7.2.470-474

GA-based Global Path Planning for Mobile Robot Employing A* Algorithm

Cen Zeng1, Qiang Zhang2, Xiaopeng Wei2
1Dalian University of Technology,Dalian, Liaoning,116024,China
2Key Laboratory of Advanced Design and Intelligent Computing (Dalian University),Ministry of Education Dalian, 116622, China


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.

General Information

ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Monthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO,  ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat, CNKI,etc
E-mail: jcp@iap.org
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