Optimization of potential field parameters using genetic algorithm

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Mehmet Serdal Guzel
Vahid Babaei Ajabshir
Serhat Can
Erkan Bostanci

Abstract

This paper addresses a metaheuristics approach to optimize the parameters of the potential fields (PF) method. This method is an important algorithm and is primarily used for local navigation problems. However, estimating the appropriate parameters is essential for safe and smooth navigation. For instance, complex scenarios that include long and thin corridors or cluttered environments having numerous obstacles require reliable parameter estimation. Accordingly, the genetic algorithm is utilized to estimate the appropriate algorithms to overcome conventional navigation problems based on the PF method. The experimental results verify the reliability and efficiency of the proposed approach.


Keywords: Path planning, potential fields (PF) method, genetic algorithm (GA), DEAP, robot navigation, parameter optimization.

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How to Cite
Guzel, M., Ajabshir, V., Can, S., & Bostanci, E. (2017). Optimization of potential field parameters using genetic algorithm. Global Journal of Computer Sciences: Theory and Research, 7(2), 58-67. https://doi.org/10.18844/gjcs.v7i2.2712
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Author Biographies

Vahid Babaei Ajabshir, Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey

Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey.

Serhat Can, Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey

Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey.

Erkan Bostanci, Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey

Computer Engineering Department, Ankara University, Golbasi 50.yil Yerleskesi Bahçelievler Mh, Ankara 06830, Turkey.