As car like robot is a kind of nonholonomic system, its path planning method should consider its nonholonomic constraints. So far, nearly all nonholonomic path planning methods are based on differential geometric or differential algebra, which are hard to solve theoretically and the shortest path planning method is only available in the absence of obstacles, but not in obstacles. This paper proposed a new shortest path planning method based on genetic algorithm for a nonholonomic car like robot amidst... As car like robot is a kind of nonholonomic system, its path planning method should consider its nonholonomic constraints. So far, nearly all nonholonomic path planning methods are based on differential geometric or differential algebra, which are hard to solve theoretically and the shortest path planning method is only available in the absence of obstacles, but not in obstacles. This paper proposed a new shortest path planning method based on genetic algorithm for a nonholonomic car like robot amidst obstacles. It stated the considered problem in a mathematics form and showed the new method in detail. Some experiments were performed to test the new method by using a re equipped radio remote control car model. The experimental results show that the proposed method is very reasonable and feasible. |