Optimal Motion Planning Using Follow Boundary Repair and Evolutionary Search
采用跟踪边界修正和进化探索实现最佳的运动计划（英文）

This paper presents an optimal motion planning system for mobile robots operating in unstructured environments. We have developed a new obstacle representation method named cross_line, a follow boundary repair approach, and a hybrid evolutionary motion planning algorithm. A group of experiments are conducted that indicate the effectiveness of follow boundary repair approach and cross_line representation. These results also demonstrate that optimal/near optimal paths can be generated through combining the follow boundary repair and evolutionary search.