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Optimal Path Planning For Aerial Robots Using Genetic Algorithm, Anna Puigvert I Juan

Graduate Theses, Dissertations, and Problem Reports

This thesis presents a path optimization solution for a robot in two different constrained 3-dimensional (3D) environments. The robot is required to travel from its current position to a goal position following minimum cost paths (optimal paths). The first environment has 3D obstacles that interfere with the robot’s path. The path cost for this environment accounts for the minimum distance traveled by the robot from the start to the goal position while avoiding obstacles. The second environment is the atmosphere of Venus, specifically a flyable region of this atmosphere with characteristics similar to Earth’s. This environment has strong westward winds …