Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/43743
DC FieldValueLanguage
dc.contributor.authorTsai, Ching-Chihen_US
dc.contributor.authorHuang, Hsu-Chihen_US
dc.contributor.authorChan, Cheng-Kaien_US
dc.contributor.otherNational Chung Hsing University,Department of Electrical Engineeringen_US
dc.contributor.other國立中興大學電機工程學系zh_TW
dc.date2011-10zh_TW
dc.date.accessioned2014-06-06T08:11:27Z-
dc.date.available2014-06-06T08:11:27Z-
dc.identifier.issn0278-0046zh_TW
dc.identifier.urihttp://hdl.handle.net/11455/43743-
dc.description.abstractThis paper presents a parallel elite genetic algorithm (PEGA) and its application to global path planning for autonomous mobile robots navigating in structured environments. This PEGA, consisting of two parallel EGAs along with a migration operator, takes advantages of maintaining better population diversity, inhibiting premature convergence, and keeping parallelism in comparison with conventional GAs. This initial feasible path generated from the PEGA planner is then smoothed using the cubic B-spline technique, in order to construct a nearoptimal collision-free continuous path. Both global path planner and smoother are implemented in one field-programmable gate array chip utilizing the system-on-a-programmable-chip technology and the pipelined hardware implementation scheme, thus significantly expediting computation speed. Simulations and experimental results are conducted to show the merit of the proposed PEGA path planner and smoother for global path planning of autonomous mobile robots.en_US
dc.language.isoen_USzh_TW
dc.publisherIEEE Industrial Electronics Societyen_US
dc.relationIEEE Transactions on Industrial Electronics, Volume 58, Issue 10, Page(s) 4813-4821.en_US
dc.subjectElite genetic algorithmen_US
dc.subjectglobal path planningen_US
dc.subjectmobile roboten_US
dc.subjectnavigationen_US
dc.subjectparallel processingen_US
dc.titleParallel Elite Genetic Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigationen_US
dc.typeJournal Articlezh_TW
dc.identifier.doi10.1109/TIE.2011.2109332zh_TW
dc.contributor.catalogerMiao-zhen Luoen_US
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextno fulltext-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.languageiso639-1en_US-
item.openairetypeJournal Article-
Appears in Collections:電機工程學系所
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