Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
| Autor: | Nizar Hadi Abbas, Farah Mahdi Ali |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | Al-Khawarizmi Engineering Journal, Vol 12, Iss 4 (2017) |
| Druh dokumentu: | article |
| ISSN: | 1818-1171 2312-0789 |
| DOI: | 10.22153/kej.2016.01.001 |
| Popis: | This paper describes the problem of online autonomous mobile robot path planning, which is consisted of finding optimal paths or trajectories for an autonomous mobile robot from a starting point to a destination across a flat map of a terrain, represented by a 2-D workspace. An enhanced algorithm for solving the problem of path planning using Bacterial Foraging Optimization algorithm is presented. This nature-inspired metaheuristic algorithm, which imitates the foraging behavior of E-coli bacteria, was used to find the optimal path from a starting point to a target point. The proposed algorithm was demonstrated by simulations in both static and dynamic different environments. A comparative study was evaluated between the developed algorithm and other two state-of-the-art algorithms. This study showed that the proposed method is effective and produces trajectories with satisfactory results. |
| Databáze: | Directory of Open Access Journals |
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