Path Planning for Mobile Robots using Visibility Graph and Genetic Algorithms

가시도 그래프와 유전 알고리즘에 기초한 이동로봇의 경로계획

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.