Cognitive map approach for mobility path optimization using multiple objectives genetic algorithm

• Main Authors: Krishnan P.S., Paw J.K.S., Kiong T.S.
• Other Authors: 36053261400
• Format: Conference Paper
• Published: 2023
• Subjects: Cognitive map approach; Mobile robots; Multiple objective genetic algorithm; Path optimization; Autonomous agents; Conformal mapping; Function evaluation; Genetic algorithms; Optimization; Cognitive maps; Collision-free paths; Fitness functions; Goal functions; Hybrid method; Key parameters; Moving obstacles; Moving path; Multi objective; Multiple objectives; Path optimizations; Planning strategies; Simulation result; Static environment; Stationary obstacles; Navigation
• Institution: Universiti Tenaga Nasional

This paper describes the evolutionary planning strategies for mobile robot to move along the streamlined collision-free paths in a known static environment. The Cognitive Map method is combined with genetic algorithm to derive the mobile robot optimal moving path towards its goal functions. In this study, multi-objectives genetic algorithm (MOGA) is utilized due to there are more than one objective need to be achieved while planning for the robot moving path. Goal-factor and obstacle-factor are the key parameters incorporated in the MOGA fitness functions. The simulation results showed that the hybrid Cognitive Map approach with MOGA is capable of navigating a robot situated among non-moving obstacles. The proposed hybrid method demonstrates good performance in planning and optimizing mobile robot moving path with stationary obstacles and goal. �2009 IEEE.