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Sensors 2018, 18(12), 4322; https://doi.org/10.3390/s18124322

Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots

Department of Computer Engineering and Automation, Center of Technology, Federal University of Rio Grande do Norte—UFRN, 59078-970, Brazil
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Received: 3 November 2018 / Revised: 22 November 2018 / Accepted: 27 November 2018 / Published: 7 December 2018
(This article belongs to the Special Issue Mobile Robot Navigation)
Full-Text   |   PDF [346 KB, uploaded 7 December 2018]   |  

Abstract

This work describes the performance of a DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm) algorithm applied to autonomous navigation in unknown static and dynamic terrestrial environments. The main aim was to validate the functionality and robustness of the DPNA-GA, with variations of genetic parameters including the crossover rate and population size. To this end, simulations were performed of static and dynamic environments, applying the different conditions. The simulation results showed satisfactory efficiency and robustness of the DPNA-GA technique, validating it for real applications involving mobile terrestrial robots. View Full-Text
Keywords: genetic algorithms; mobile robots; autonomous navigation; dynamic planning genetic algorithms; mobile robots; autonomous navigation; dynamic planning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Silva, C.A.D.; de Oliveira, Á.V.F.M.; Fernandes, M.A.C. Validation of a Dynamic Planning Navigation Strategy Applied to Mobile Terrestrial Robots. Sensors 2018, 18, 4322.

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