Layered Approach for Three Dimensional Collision Free Robot Path Planning using Genetic Algorithm

K  S  Suresh; V  Vaithiyanathan   and S  Venugopal

doi:10.17485/ijst/2015/v8i35/86639

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Layered Approach for Three Dimensional Collision Free Robot Path Planning using Genetic Algorithm

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8i35/86639

Year: 2015, Volume: 8, Issue: 35, Pages: 1-6

Original Article

Layered Approach for Three Dimensional Collision Free Robot Path Planning using Genetic Algorithm

K. S. Suresh^1*, V. Vaithiyanathan¹ and S. Venugopal²

¹School of Computing, SASTRA University, Thanjavur - 613401, Tamil Nadu, India; [email protected], [email protected]
²Indira Gandhi Centre for Atomic Research, Kalpakkam - 603102, Tamil Nadu, India; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

Robot Path Planning (RPP) is solved using Genetic Algorithm (GA) principle for collision-free navigation for the three dimensional static space to find the optimal path. In this paper, Layered Approach is employed where the whole three dimensional space is considered as layers of two dimensional spaces to accomplish the RPP to reach the target by avoiding obstacles and find the shortest path. The quality of the path is ensured by nearest neighbourhood approach. Implementation of the principle of GA to solve RPP is effective where the environment contains huge number of solution paths compared to the classical methods to obtain the shortest path from source to target. This approach is tested for different number of layers and the results are tabled. The path generated and optimal path obtained by the implementation of this approach has been compared with the cost of the optimal path obtained manually.
Keywords: Collision-Free, Genetic Algorithm, Robot Path Planning, Three Dimensional Spaces