GWO-Potential Field Method for Mobile Robot Path Planning and Navigation Control

Autor: Anupam Keshari, Mohd. Nayab Zafar, J. C. Mohanta
Rok vydání: 2021
Předmět:
Zdroj: Arabian Journal for Science and Engineering. 46:8087-8104
ISSN: 2191-4281
2193-567X
DOI: 10.1007/s13369-021-05487-w
Popis: A navigation control methodology is proposed in this paper, which utilizes a hybrid concept of grey wolves optimisation (GWO) algorithm and an artificial potential field (APF) method for on-time path planning of mobile robot. The proposed methodology runs in two folds. The first fold defines the focus region (FR), which shows the obstacle-free locations of the all possible robot movements. However, in the second fold step GWO algorithm searches the shortest path by minimizing the artificial potential field value of the location generated within FR. The presented methodology was simulated and verified in various real and simulation environments. The simulation and experimental results reveal that the presented methodology can not only be capable of finding an optimal or near-optimal robot-path in a complex obstacle-present environment but also provides an effective path planning strategy on-time basis. The results show that the proposed method has out-performed to shorten the path length as well as ensured collision-free navigation. At the same time, virtual intermediate targets (VITs) makes the navigation free from any dead-end situation, even in a cluttered environment.
Databáze: OpenAIRE
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