Topic Theory 1 Introduction to Path Planning of Mobile Robots, holonomic and non-holonomic systems, Alteras BeInMotion 2 Categories of Algorithms (on-line and off-line) Offline: Classical methods: Graphical methods, Cell-decomposition methods, via points, shortest distance. Evolutionary Methods: GA, PSO, ACO, SA Online: Artificial Potential Field, Random Particle Optimization (RPO) methods, Genetic Algorithms 3 Optimization (of functions depending on independent variables) and Optimal solutions (depending on functions of functions) 4 Dubins Car and geometric optimal paths 5 Random Particle Optimization (RPO): Theory 6 On-line RPO planning: sensors 7 RPO algorithm development 8 RPO parametric analysis 9 Genetic Algorithms 10 Genetic Optimization of functions 11 Random variables, Probability distribution functions (PDF, CDF) Sampling methods 12 Genetic Algorithms for Optimal Path of Mobile Robots 13 Path planning of Humanoids 14 Optimal formulation 15 Optimal formulation Simple Applications 16 Solution of the General Discrete-Time Optimization problem 17 Discrete-Time Linear Quadratic Regulator (LQR) 18 Optimal Control of Continuous-Time Systems 19 Continuous-Time LQR 20 The Mobile Robot Tracking Problem Formulation 21 Defining a Reference Trajectory 22 Numerical Solution of the Tracking Equations 23 Optimal Control and Optimal Trajectory of a Mobile Robot 24 Revision
Grading Quiz/Assignments: 20, Mid-Term: 35, Final Examination: 45 Books 1. J C Latombe Robot Motion Planning 1991 (soft copy available) 2. Steven M. LaValle, Planning Algorithms, Cambridge University Press, 2006 (soft copy available) Air University
3. Holland, J. H. 1975. Adaptation in Natural and Artificial Systems, Ann Arbor: University of Michigan Press. 4. Randy L. Haupt and Sue Ellen Haupt, Practical Genetic Algorithms, Second Edition, John Wiley & Sons Inc., 2004. 5. Hagen Burchardt, Ralf Salomon, Implementation of Path Planning using Genetic Algorithms on 6. Frank L. Lewis, Draguna L. Vrabie and Vassilis L. Syrmos, Optimal Control, Third Edition, John Wiley & Sons, Inc., 2012. Reference Papers 1. Tamilselvi, Mercy Shlinie, Hariharasudan, Optimal Path Selection for Mobile Robot Navigation Using Genetic Algorithm, IJCSI International Journal of Computer Science Issues, Vol. 8, Issue 4, No 1, July 2011 ISSN (Online): 1694-0814 www.IJCSI.org
2. P. Raja and S. Pugazhenthi, Optimal path planning of mobile robots: A review, International Journal of Physical Sciences, Vol. 7(9), pp. 1314-1320, 23 February, 2012. 3. Nagib, G. and Gharieb, W., 2004, Path planning for a mobile robot using genetic algorithms, Proceedings of the International Conference on Electrical, Electronic and Computer Engineering (ICEEC04), Cairo, Egypt, pp.185-189. 4. C. Liu, H. Liu and J. Yang, A Path Planning Method Based on Adaptive Genetic Algorithm for Mobile Robot, Journal of Information & Computational Science 8: 5 (2011), pp 808-814. (Available at www.joics.com) 5. Sedighi, K.H., Ashenayi, K. ; Manikas, T.W. ; Wainwright, R.L. and Heng-Ming Tai, Autonomous local path planning for a mobile robot using a genetic algorithm, Volume 2, pp 1338-1345. 6. B. Mohajer, K. Kiani, E. Samiei and M. Sharifi, A New Online Random Particles Optimization Algorithm for Mobile Robot Path Planning in Dynamic Environments, Mathematical Problems in Engineering, Volume 2013, Article ID 491346, January 2013.