ABSTRACT
Robotic navigation encompasses motion-planning which includes dynamical modelling and path-planning which restricts itself to spatial and geometrical modelling. The output of path-planning exercise is a feasible/optimal trajectory or path through the associated space of possible configurations of the robot and the known obstacles in the working area, from a given initial position to the desired final position of the robot. Genetic algorithms are a powerful tool based on models of natural selection and evolution and facilitate an exhaustive search over large discontinuous spaces. L. Tian and C. Collins considered the trajectory planning for a two-joint two-link robot moving in a two-dimensional (2-D) plane. Obstacles of various 2-D geometries have been considered in the literature. Circular obstacles have been widely used, since they are easy to represent in the 2-D plane, and also that the rotation of the obstacle becomes irrelevant; however, they offer a conservative representation if not used properly.
