Cooperative co-evolution based distributed path planning of multiple mobile robots

作     者：王梅 吴铁军 

作者机构：Institute of Intelligent Systems & Decision Making Zhejiang University 

基　　金：Project (No.2002CB312200) supported by the National Basic Research Program (973) of China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2005年第6卷第7期

页      码：697-706页

摘      要：This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

主 题 词：Cooperative co-evolution Multiple mobile robot Cooperative collision avoidance Path planning 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

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