MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp.

43-41 43
ISSN 2230-7621 © MIT Publications

Path Planning of a Mobile Robot: A Review

Shivanshu Rastogi Zubair Iqbal Prabal Bhatnagar
Assistant Professor Assistant Professor Assistant Professor
CS&IT Department, MIT, CS&IT Department, MIT CS&IT Department, MIT
Moradabad, U.P., INDIA Moradabad, U.P., INDIA Moradabad, U.P., INDIA
email: rshivanshu1145@gmail.com email: zubairiqbal17@gmail.com email: prabal_bhatnagar@yahoo.com

ABSTRACT
Path planning of a robot [1] is a problem in which a problem space or a problem domain with a number of obstacles is given
and the aim is to find a collision free path which a robot can follow in order to reach its destination from the start position. Here
in this paper we are going to analyse various proposed techniques to find a path for a mobile robot in static and dynamic
environment. We have found a no. of techniques to find the collision free path with less effort and less cost.

1. INTRODUCTION
The moment we try to find out a solution for path planning of a
mobile robot[2], the first thing which came to our mind is about
some sort of sensors mounted on the head of robot that are sup-
posed to sense the obstacles and other difficulties that may oc-
cur in calculating the path of that particular robot. Secondly we
think about the nature of obstacles that may be static or dynamic
(moving obstacles). This paper is mainly devoted to analyze the
various approaches to find the ultimate solution of the above
said problem and locate the best one among them. One issue is
to produce a path that satisfies the criteria of optimality. Very
often the collision free path is highly desirable to be optimal or
near-to-optimal with respect to time, distance or energy.[3]

2. PATH PLANNING OF A MOBILE ROBOT USING

GENETIC ALGORITHM
A Genetic Algorithm (GA) is used to findthe optimal paths for a
robot to move in a staticenvironment expressed by a map with
nodes (via points) and links. This application can be found in
exhibitions, museums, and laboratories to transport materials.
In the proposed algorithm[4], any path from the starting point
tothe goal is a solution. At the beginning a random populations
of string is generated which represents admissible (feasible) or
un-admissible (unfeasible) solutions. Un-admissible solutions are
strings that cannot reach the target. That means, the string solu-
tion would lead the robot to move in collision with obstacles.
Admissible solutions are strings that can reach the target. In or-
der to move the mobile robot toward the goal obstacles avoid-
ance, it should found a best string that reaches the target in the
shortest path. The un-admissible solution has lowest fitness (zero
fitness). The X-Y map that considered is a square area of 15 m2
as shown in figure 1.
Fig. 1. Work Space Map
The robot has a starting point and a goal point on the map under
the assumption that in a path planning the robot passes each point
only once or not at all. Each node has a number in Fig.1 and the
nodes are used to encode a path as a string expressed by the
order on numbers. For example, 0-4-5-10-9-15 is a path with
P,=O and P,=15. Using GA, via points are selected randomly at
first, while adjacent numbers (points) must be connected with a
link on the map. In this field, most researchers have used a vari-
able length order-based string (chromosome). This chromosome
is represented by a string bits (i.e. natural representation not bi-
nary). Hence special crossover and mutation operators must be
adopted. During the crossover, a string that has an efficient fit-
ness is randomly selected as a parent. If the second parent con-
tains the common number in the first one both strings exchange
MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp. 43-41
ISSN 2230-7621 © MIT Publications
the part of their strings following the common number, if not
another string is selected as the second parent and the same pro-
cedure is followed. For example using the map in figure 2:
Parent 1 : 0- 1-5- 10-1 1-12-1 5
Parent 2: 0-3-6-4-5-10-9-15
Each parent have a common point 10, the underlined parts of
each string are exchanged, yielding: the two children are
Child 1 : 0- 1-5-10-9-15
Child 2: 0-3-6-4-5-10-1 1-12-15
After cross over children are checked to determine whether each
string has repeated number. If so, the part of string between the
repeated numbers is cut off. Some correction then required be-
cause it might be the case that the child is not admissible solu-
tion. This approach makes the algorithm more complex. The
important question is how to make the binary coding so possible
and easy to be used in a fixed length chromosome definition.
One of the more challenging aspects in our proposed method is
encoding each string in a binary code with fixed length. A path
of a mobile robot is encoded using binary numbers where each
gene (via point) in a chromosome is encoded by 4 bits binary as
in the Table 1.
The following subsections describe the important components
of the proposed genetic algorithm.
2.1 Chromosomes and Initialization
A chromosome corresponds to possible solution of the optimi-
zation problem. Thus each chromosome represents a path which
consists of straight line segments, as the sequence of nodes
(points) with the first node indicating the starting point of the
first segment, followed by intermediate nodes (via points) be-
tween segments, and the last node indicating the ending point of
the last segment, which is the goal. The default maximum chro-
mosome length is equal to the number of map points times the
gene length (4-bit binary code). In our case, we have 16 points
where each point is coded in 4 binary bits. That means; the chro-
mosome length is equal to 16 × 4 = 64 bits. This result is straight
44
forward but we can reduce efficiently the chromosome length to
reduce the required computation power. From the map topol-
ogy, we have observed that the optimal path to reach the goal
point is related to the number of obstacles, If the number of static
obstacles is equal m, the shortest path consists at most of (m + 2)
points or (m + l) linear segments. This relation assumes that the
obstacle shape is not complicated and can be considered as mass
point. For example, if there is no any obstacle (m = 0), the short-
est path consists of a one linear segment from the start to goal
point; (number of points =2). In figure 1 the number of static
obstacles m=3; the shortest path consists of 3 point (start, via,
goal) which is less than 5 (m + 2). In figure 2, m =7; the shortest
path from points 0 to point 15 is (0-4-6-7-9-15) (6 points) which
is less than 9(m + 2). Thus the following equation will be used to
define the chromosome length.
C=m+2 (1)
Where m is the number of static obstacles.
C is the number of genes in the chromosome.
For the given map in figure 2, the chromosome length = (7 + 2)×
4 = 36 binary bits. The initial population of chromosomes can
be randomly generated such that each chromosome has a ran-
dom m genes (via points), while the start and goal points are
fixed in the population. 13, 15 9, 12, 13, 14 B. Evaluation The
choice of a fitness function is usually very specific to the prob-
lem under condition. The evaluation function of a chromosome
measures the objective cost function.
The distance of a path indicated by the chromosome is used to
calculate its fitness. Since the fitness should increase as the dis-
tance decreases. Thus, the fitness function (F) of a feasible path
is evaluated as:
 1
 m 1 ; Feasible path
F    d(Pi , Pi 1 )
 i 1 (2)
 0 ; Infeasible path
Where d(Pi, Pi+1) is the segment length between a point Pi and
next point Pi+1, in the chromosome of length m + 2 points.
MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp. 43-41
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The segment length can be calculated using the given XY coor-
dinate values in Table I as follows:
d(Pi 1 , –Pi )  (X i 1 – X i ) 2  (Yi 1 – Yi ) 2 (3)
If the path is not feasible, its fitness is equal to zero. Our algo-
rithm can trace the path points to detect if it is feasible or not
using Table 2. The linked points are the admissible next points
to the current one in the solution in order to avoid obstacles.
2.2 Operators
In our algorithm, we use the common two genetic operators:
crossover and mutation. Crossoverrecombines two ‘parent’ paths
to produce two ‘children’new paths in the next generation. We
have used two points crossover. Both parent paths are divided
randomly into three parts respectively and recombined. The
middle part of the first path between crossover bitpositions and
the middle part of the second path areexchanged to produce the
new children. The crossoverbit positions are selected randomly
along the chromosome length between the positions 5 and 32.
These limits are chosen in order to keep the start andgoal points
without change during the cross over process. For example, given
two parents (36 bits) asfollowing, they will be crossover ran-
domly at bit positions 15 and 23:
000000000111111100000uu00ll000001111
000000000000000011111110000000001111
The new two children are:
000000000111111011111110011000001111
0000000000000001000000~0000000001111
The mutation process is also applied to flip randomly abit posi-
tion in the chromosome (between bit position 5 and 32). The
pseudo-code of the proposed algorithm is given by:
BEGIN
Initialize the starting and goal points
Generate randomly the initial population
Using m via points in each chrosomome
While NOT (convergence condition)
DO Evaluate the fitness for each chromosome in current popu-
lation using equation (2)
Rank the population using the fitness values
Eliminate the lowest fitness chromosome
Duplicate the highest fitness chromosome
Apply randomly crossover process between current parents us-
ing the given probability, while keeping the start and end points
without change in the population.
Apply the mutation process with the given probability.
Generate the new population
END
Output the best individual found
END
45
3. A KNOWLEDGE BASED GENETIC ALGORITHM
FOR PATH PLANNING OF A MOBILE ROBOT
The proposed genetic algorithm[6] features its simple and unique
problem presentation, its effective evaluation method and its
knowledge based genetic operators[7]. The detailed description
of each element is presented below.
3.1 Problem Representation
Representation is a key issue in the work of GAS. The proposed
GA uses a simple yet effective path representation. Themobile
robot environment is represented by orderly numbered grids, each
of which represents a location in the environment.The boundary
of obstacles is formed by their actual boundary plus minimum
safety distance considering the size of themobile robot, which
makes it possible to treat the mobile robota point in the environ-
ment.[5] As an example, Fig. 1 shows anenvironment with 10 ×
10 grids applied on. A potential pathis formed by line segments
connecting the nodes falling onthe grids with different numbers.
Thus a path is encoded as asequence of grid numbers starting
from the source and endingat the target with a various number of
intermediate nodes (Fig. 3). A feasible path is a collision free
path, i.e. no nodes fall on any obstacle, or no any of line seg-
ments of a path intersects anobstacle. The length of a chromo-
some is variable and between 2 and maximum length Nmaz. Such
a grid representation is different from the one that usually uses
grids to limit themovement of a path to be one of its eight adja-
cent cells anduses relative directions to represent a path. The
proposedpath representation is more like a coordinate
representation,but differs by discretization and using integer
numbers insteadof coordinates (z, y).
Fig. 2. Mobile robot environment and path representation.
Solid Line: A feasible path, dashed line: an infeasible path
Fig. 3. A sample chromosome:a path represented by nodes
falling on grids with different numbers.
MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp. 43-41
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3.2 Evaluation
A path can be either feasible (collision free) or in feasible because
intermediate nodes can fall on any of the grids. Theevaluation
should be able to distinguish feasible and infeasiblepaths and
tell the difference of path qualities within eithercategory. The
evaluation function is presented below:
N
Fcos t   (di  i C) (4)
i 1
Where N is the number of line segments of a path, di isthe
Euclidean distance of the two nodes forming the linesegment, C
is a constant, âi is the coefficient denoting depthof collision, and
its definition is given as
 0 if the ith linesegment is feasible
i   M
 j1  jif the line segment intere sects obstacle(s) (5)
Where ájis determined by considering how deep a line segment
intersects an obstacle j. It is defined as the shortest moving
distance for escaping the intersected obstacle. This evaluation
gives penalty to infeasible paths, but still keeps them in the
population because they might become good feasible solutions
after certain genetic transformations. Besides, this evaluation
allows some overlap between fitnesses of feasible and infeasible
solutions because a very poor feasible path is not necessarily
better than a very good near-feasible path in the sense of evolving
solutions. It is beneficial to give more chance to some good
infeasible solutions that are easily to beevolved to good solutions.
To save computational time, some information obtained by the
evaluation needs to be recorded so that later on it can be used by
some specialized genetic operators as heuristic knowledge
without re-calculation. The information includes feasibility
(feasible or infeasible, node infeasibleor line-infeasible), number
of infeasible nodes orline segments, and which obstacle(s) a path
intersects.
3.3 Genetic Operators
Two classical genetic operators: crossover and mutation are not
applicable for the problem here. They have to betailored for the
path planning problem and adopted problem representation.
Besides, to make the genetic algorithm more effective, four
specialized operators are designed to make use of available
problem-specific knowledge including knowledgeof the
environment. These six operators are introduced asfollowing and
depicted in Fig. 4.
Crossover is the operator that randomly chooses a node from
Parent 1 and the other node from Parent 2. Exchange the part
after these two nodes. Check the two offspring, and deletethe
part between two same nodes if it happens. The choice of differ-
ent crossover sites in different parents can increase the variabil-
ity of chromosome length, which benefits explorationof the so-
lution space.
Mutation is that randomly chooses a node and replaces it witha
node that is not included in the path. Mutation is served asa key
46
role to diversify the solution population. Therefore, it isnot nec-
essary that a solution is better after it is mutated.
Fig. 4: Six specialized genetic operators that
incorporate problem-specific knowledge
Node-repair is used to move a node falling on an obstacle out of
the obstacle and to a best grid around the obstacle.To locate the
best grid, a small-scaled local search in the neighbours of the
obstacle is applied.
Line-repair is used to repair an infeasible line segment by insert-
ing a suitable node between the two nodes of the segment. Again,
to locate a best node, similar local searchis applied in the all of
neighbouring grids of the intersectedobstacle.
Deletion is applied to both feasible and infeasible path. Ran-
domly choose one node, check its two adjacent nodes, and con-
nected segments, if the deletion of the chosen node is beneficial
(turn the infeasible to the feasible, reduce the cost), delete the
node.
Improvement is designed for feasible solutions. Randomly chose
one node, do a local search in the neighbouring grids ofthe node,
move to a best grid. ‘This operator is used for finetuning of a
feasible solution.
These operators are very necessary to evolve feasible andgood
quality solutions. The firing of these operators dependson two
criteria: probability and heuristic knowledge (e.g., iffeasible then
improve). The important role of these operatorsis discussed later.
4. AN APPROACH BASED ON GENETIC
ALGORITHMS TO SOLVE THE PATH PLANNING
PROBLEM OF MOBILE ROBOT IN STATIC
ENVIRONMENT
4.1 Proposed Strategy for Solution
This section describes the approach to solve the path planning
problem of an autonomous mobile robot based on Genetic Al-
gorithms[8].
MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp. 43-41 47
ISSN 2230-7621 © MIT Publications
A 2-dimensional grid structure is used with obstacles occupy- The second part of both the parents is interchanged with each
ing the grids based on the environment in which the robot has to other.
travel. The grid units followed by the chromosomes constitute This increases the variability of chromosome length which ben-
the collision free path. efits exploration of the solution space.
The initial chromosomes for an 8 × 10 grid are encoded as: Chromosomes before Crossover
P1= {(0,0), (0,7), (6,0), (4,5), (7,9)} (0,0) (1,4) (1,9) (4,7) (6,6) (7,9)
P2= {(0,0), (6,2), (7,9)} and so on which can

be represented as shown in Fig 5. Crossover Point
(0,0) (2,6) (3,8) (5,2) (4,5) (7,9)

Crossover Point
Chromosomes after Crossover
(0,0) (1,4) (1,9) (3,8) (5,2) (4,5) (7,9)
(0,0) (2,6) (4,7) (6,6) (7,9)

4.3.2. Mutation
The mutation operator selects a node randomly and exchanges it
with some other node which is not present on current path. The
solution after mutation does not ensure to be the feasible solu-
tion but may help if the node falling on obstacle is changed.
Fig. 5. Path generated by initial chromosomes Chromosomes before Mutation
for problem given in Fig. 1
(0,0) (1,4) (1,9) (4,7) (5,6) (7,9)
The feasible path is a collision free path which does not have 
any node falling on the obstacle and also no segment of path
Mutation Point
should intersect an obstacle. The length of chromosome can vary
from 2 to Total no of grids. Chromosomes after Mutation
(0,0) (1,4) (1,9) (6,3) (5,6) (7,9)
4.2 Evaluation/Finding Cost of Path
The cost finding method should be such that it should be ca- 4.3.3 Rectifying Node
pable of discriminating between the feasible and infeasible paths It is used to step out the node falling on an obstacle out of the
and define their qualities. The formula is given as: obstacle and to a finest grid around the obstacle.
Cost = di + K × p
Where “di is the sum of distances of center of all nodes forming
the path, K is a constant based on practical conditions, and P is
the penalty of intersecting an obstacle. This evaluation doesn’t
discard infeasible paths but penalize them with some additional
cost. They are not discarded because they might become opti-
mal solution after applying some optimizing operators that may
decrease their cost.
Before Applying Operator
4.3. Genetic Operators used in Proposed Approach
There are two basic operators Crossover and Mutation which
are used to generate off springs. In order to make the algorithm
effective, 4 new operators are also developed. These operators
make use available problem specific knowledge including knowl-
edge of the environment.

4.3.1 Crossover
The crossover operator randomly chooses a node from Parent 1 After Applying Operator
and the other node from Parent 2 so as to split them in two parts.
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ISSN 2230-7621 © MIT Publications

4.3.4. Rectifying line

A node is amended or added in between the two nodes of the
segment such that the infeasible line segment is converted into a
feasible one.

After Applying Operator

4.3.7. Some Results

In this section we gave snapshots of some results given by our
system designed as per proposed GA approach.
Before Applying Operat or After Applying Operator

4.3.5. Erasing Node

A node is selected randomly for erasing. Then its neighboring
nodes are connected together assuming selected node is erased.
If the resulting chromosome is better than the node is erased
actually.

Fig. 6. Optimal Solution for the problem given in Fig 1

Simulation Results for some other Problems
Before Applying Operator

After Applying Operator

4.3.6. Enhance Path

Fig. 7. Result 1
This operator randomly chooses one node on the path and per-
forms a local search in the set of other nodes on the path to see if
connecting any one of them to chosen node may give a better
path. This operator is capable of providing the finest solution
for the path finding problems.

Before Applying Operator

Fig. 8. Result 2
MIT International Journal of Computer Science & Information Technology, Vol. 4, No. 1, Jan. 2014, pp. 43-41
ISSN 2230-7621 © MIT Publications
5. SIMULATION OF PATH PLANNING OF MOBILE
ROBOT IN DYNAMIC ENVIRONMENT
Genetic Algorithms are basically the search algorithms based on
the mechanics of natural selection and natural genetics. They
combine survival of the fittest among string structures with a
structured yet randomized information exchange to form a search
algorithm with some of the innovative flair of human search. In
every generation, a new set of artificial creatures (chromosomes)
is created using random bits and pieces of the fittest of the old.
An occasional new part is tried for good measure which is known
as mutation. Genetic algorithms despite being randomized are
not a simple random walk. They efficiently use historical infor-
mation to speculate on new search points which can be used to
get a solution with improved performance.
Fig. 9. Flow chart for path planning in sstatic environment
49
5.1 Path Planning Of Robot with Dynamic Obstacles
First of all in order to place the dynamic obstacles[9] we need to
mark the starting and the ending position of the obstacles so as
to keep moving between the specified positions. A sample envi-
ronment is shown in Fig.10. Some assumptions are also to be
kept in mind that are:
 The dynamic obstacles are point obstacles.
 They have certain velocity.
 They move in a to and fro motion.
 They don’t have the power to think so they will not wait for
the robot.
Fig. 10. Representation of environment of a mobile robot with
obstacles (filled grids), S-source, D-destination, Lines shows
the dynamic obstacles.
5.2 Evaluation
A path can be either feasible (collision free) or infeasible be-
cause intermediate nodes can fall on any of the grids. The evalu-
ation should be able to distinguish feasible and infeasible paths
and tell the difference of path qualities within either category.
The evaluation function is presented below:
FCost = di + K*P
Cost = Fcost + N*P
Where Fcost is the cost of path planning in static environment
di is the Euclidean distance from source to destination
K is the penalty cost in for static collision
N is the penalty for each collision, for ex. N=50
P is the number of pixels colliding with dynamic obstacles.
This evaluation gives penalty to infeasible paths, but still keeps
them in the population because they might become good fea-
sible solutions after certain genetic transformations. Besides, this
evaluation allows some overlap between finesses of feasible and
infeasible solutions because a very poor feasible path is not nec-
essarily better than a very good near-feasible path in the sense of
evolving solutions. It is beneficial to give more chance to some
good infeasible solutions that are easily to be evolved to good
solutions. To save computational time, some information obtained
by the evaluation needs to be recorded so that later on it can be
used by some specialized genetic operators as heuristic knowl-
edge without re-calculation. The information includes feasibil-
ity (feasible or infeasible, node-infeasible or line-infeasible),
number of infeasible nodes or line segments, and which
obstacle(s) a path intersects.
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ISSN 2230-7621 © MIT Publications

5.3 Proposed Algorithm: 6. CONCLUSION

1. Evaluate the location of each dynamic obstacle. This review describes the overview of Web search engines. The
2. Choose initial population. goal of this paper is tohelp people perform Web searching easily
and effectively. It discusses the differentcomponents of search
3. Evaluate the fitness of each chromosome in the population.
engines such as architectures, user interfaces, ranking
4. Repeat: algorithms,Web crawlers, metasearchers and indices. Also, it
a. Select the best chromosomes among the population. investigates other issues such asinformation retrieval,
b. Breed the selected parents using genetic operators to characteristics of the Web, different types of search engines,
generate offsprings. searching guidelines and possible future research. It provides
c. Evaluate the fitness of each chromosome in the off- reasons why we need to study search engines, and it provides
springs. relevant references for readers to proceed further. More
important, the readers should try out different search engines
d. Select the best among them and replace worst ranked
chromosome with the best one in offsprings. that are availabletoday.

5. Repeat the process until termination condition is satisfied. REFERENCES

6. Exit
[1] Shivanshu Rastogi, Vikas Kumar, “An Approach Based on Genetic
Algorithms to Solve the Path Planning Problem of Mobile Robot
in Static Environment,” MIT International Journal, Vol.1, No.1,
January 2011.
[2] Christos Alexopoulos, Paul M. Griffin, “Path Planning of Mobile
Robot” IEEE transactios on Systems, Man, and Cybernetics, Vol
22, No. 2.
[3] Ananya Das, Priyadarsini ohapatra “ Improved real time A
algorithm for Path Planning of Mobile Robot in Quadrant Based
Environment.”
[4] Gihan Nagib, W. Gharie, “Path Planning For A Mobile Robotusing
Genetic Algorithms”, 0-7803-8575-6/04/$20.00 02004 IEEE.
[5] Torvald Ersson and Xiaoming Hu, “Path Planning and Navigation
of Mobile Robots in Unknown Environments” International
Journal of Computer Applications (0975 – 8887) Volume 78 –
No.15, September 2013.
[6] Gaowei Yan, Gang Xie, Zehua Chen, Keming Xie, “Knowledge-
Based Genetic Algorithms, Third International Conference, RSKT
2008, Chengdu, China, May 17-19, 2008. Proceedings.
[7] Yanrong Hu and Simon X. Yang, “A Knowledge Based Genetic
A1gorithm for Path Planning of a Mobile Robot” Proceedings of
the 2004 IEEE international Conference on Robotics 8 Automation.
[8] Ismail Al-Taharwa, Alaa Shetaand Mohammed Al-Weshah, “A
Mobile Robot Path planning for mobile robot using Genetic
algorithm in Static Environment,” Journal of Computer Science 4
(4): 341-344, 2008 ISSN 1549-3636© 2008 Science Publications
[9] Prabal Bhatnagar, Shivanshu Rastogi and Vikas Kumar. Article:
Simulation of Path Planning of Mobile Robot in Dynamic
Environment International  Journal of Computer
Fig.11. Flowchart for Path Planning in Applications 78(15):27-33,  September  2013.
Dynamic Environment
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