Path planning strategy for autonomous mobile robot navigation using Petri-GA optimisation

In this paper, a novel knowledge based genetic algorithm (GA) for path planning of multiple robots for multiple targets seeking behaviour in presence of obstacles is proposed. GA technique has been incorporated in Petri-Net model to make an integrated navigational controller. The proposed algorithm is based upon an iterative non-linear search, which utilises matches between observed geometry of the environment and a priori map of position locations, to estimate a suitable heading angle, there by correcting the position and orientation of the robots to find targets. This knowledge based GA is capable of finding an optimal or near optimal robot path in complex environments. The Petri-GA model can handle inter robot collision avoidance more effectively than the stand alone GA. The resulting navigation algorithm has been implemented on real mobile robots and tested in various environments to validate the developed control scheme.

Graphical abstractFigure optionsDownload full-size imageDownload as PowerPoint slideHighlights► Petri-Genetic technique is hybridized to make an assimilated navigational controller. ► This knowledge based GA enhances the possibilities of getting shortest trajectories. ► Developed model can apply efficiently for multi-robot and multi-target systems. ► The simulation and experimental results show the novelty of proposed control scheme.