Cover
Vol. 20 No. 2 (2024)

Published: December 31, 2024

Pages: 243-258

Original Article

Efficient Path Planning in Medical Environments: Integrating Genetic Algorithm and Probabilistic Roadmap (GA-PRM) for Autonomous Robotics

Sarah Sabeeh 1 Israa S. Al-Furati 2
1Computers Engineering Department, University of Basrah, Basrah, Iraq
2Electrical Engineering Department, University of Basrah, Basrah, Iraq
History
  • Received: August 21, 2023
  • Revised: October 7, 2023
  • Accepted: December 8, 2023
  • Available Online: August 12, 2024
DOI

https://doi.org/10.37917/ijeee.20.2.21

Abstract

Path-planning is a crucial part of robotics, helping robots move through challenging places all by themselves. In this paper, we introduce an innovative approach to robot path-planning, a crucial aspect of robotics. This technique combines the power of Genetic Algorithm (GA) and Probabilistic Roadmap (PRM) to enhance efficiency and reliability. Our method takes into account challenges caused by moving obstacles, making it skilled at navigating complex environments. Through merging GA’s exploration abilities with PRM’s global planning strengths, our GA-PRM algorithm improves computational efficiency and finds optimal paths. To validate our approach, we conducted rigorous evaluations against well-known algorithms including A*, RRT, Genetic Algorithm, and PRM in simulated environments. The results were remarkable, with our GA-PRM algorithm outperforming existing methods, achieving an average path length of 25.6235 units and an average computational time of 0.6881 seconds, demonstrating its speed and effectiveness. Additionally, the paths generated were notably smoother, with an average value of 0.3133. These findings highlight the potential of the GA-PRM algorithm in real-world applications, especially in crucial sectors like healthcare, where efficient path-planning is essential. This research contributes significantly to the field of path-planning and offers valuable insights for the future design of autonomous robotic systems.

Keywords

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