GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

作     者：XIAOCHUAN WANG SIMON X. YANG MAX Q.-H. MENG 

作者机构：Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON Canada N1G 2W1 Canada Department of Electronic Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong China 

出 版 物：《International Journal of Information Acquisition》 

年 卷 期：2005年第2卷第2期

页      面：77-91页

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Sensor placement control design mobile robots obstacle avoidance genetic algorithm co-evolution 

摘      要：In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.