Can Genetic Algorithms Be Used for Real-Time Obstacle Avoidance for LiDAR-Equipped Mobile Robots?

Abstract

Despite significant progress in robot hardware, the number of mobile robots deployed in public spaces remains low. One of the challenges hindering a wider deployment is that even if a robot can build a map of the environment, for instance through the use of LiDAR sensors, it also needs to calculate, in real time, a smooth trajectory that avoids both static and mobile obstacles. Considering this scenario, in this paper we investigate whether genetic algorithms can play a role in real-time obstacle avoidance. Historically, the typical use of genetic algorithms was in offline optimization. To investigate whether an online, real-time deployment is possible, we create a family of algorithms called GAVO that combines genetic algorithms with the velocity obstacle model. Through a series of experiments, we show that a carefully chosen chromosome representation and parametrization can achieve real-time performance on the obstacle avoidance problem.

Keywords

• genetic algorithm
• obstacle avoidance
• velocity obstacles