Abstract-This paper presents results of our work in development of a genetic algorithm based path-planning algorithm for local obstacle avoidance (local feasible path) of a mobile robot in a given search space. The method tries to find not only a valid path but also an optimal one. The objectives are to minimize the length of the path and the number of turns. The proposed pathplanning method allows a free movement of the robot in any direction so that the path-planner can handle complicated search spaces.

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