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Air University

Department of Mechatronics Engineering

Optimal Path Planning in Robotics 3-0-3

Topic Theory
Introduction to Path Planning of Mobile Robots, holonomic and non-holonomic systems,
Alteras BeInMotion
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
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

Quiz/Assignments: 20, Mid-Term: 35, Final Examination: 45
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

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
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.