Genetic Based Motion Planning and Evaluation for the B12 Mobile Robotic System

Motion Planning for mobile robots is concerned with providing a feasible and efficient path to accomplish a given task. Although many solutions may exist, a condition for obtaining the best (or near best)option may be imposed by the user, where a criterion in terms of the total distance traversed, energy expended or minimum execution time must be achieved. The planning procedure is made more complicated if the robot has to detect and avoid static or dynamic objects in the workcell