An Autonomous Mobile Robot Using Genetic Algorithm for Finding the Shortest Track

Thiang Thiang • Hany Ferdinando • Ronald Kurniawan
Journal article Jurnal Teknik Elektro Universitas Kristen Petra • September 2001 Indonesia

Abstrak

The paper describes an intelligent autonomous mobile robot that can find a shortest track by using a genetic algorithm %28GA%29. An 89C51 microcontroller system has been implemented to perform overall robot control including shortest track searching by using GA. An assembly code has been written for GA processes such as initial population generation%2C evaluation%2C selection and mutation. The GA chromosome is represented by a bit string. Combination between roulette wheel selection and top selection scheme are used in the system. The Mobile robot is assigned as a line tracker robot. An auxiliary PC software has been developed for process visualization and parameter transmission to the microcontroller. The experiment of the shortest track searching has been done and showed a reasonable good result. The GA process was well implemented on the microcontroller and the robot could find the shortest track from the given origin location to the target.

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Jurnal

Jurnal Teknik Elektro Universitas Kristen Petra

Jurnal Teknik Elektro Universitas Kristen Petra is published biannually, in May and September, by... tampilkan semua