On the Adequacy of Tabu Search for Global Robot Path Planning Problem in Grid Environments | Zendy

I. Chaâri | Zendy; Anis Koubâa | Zendy; Hachémi Bennaceur | Zendy; Adel Ammar | Zendy; Sahar Trigui | Zendy; Mohamed Tounsi | Zendy; Elhadi Shakshuki | Zendy; Habib Youssef | Zendy

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On the Adequacy of Tabu Search for Global Robot Path Planning Problem in Grid Environments

Author(s) -

I. Chaâri,

Anis Koubâa,

Hachémi Bennaceur,

Adel Ammar,

Sahar Trigui,

Mohamed Tounsi,

Elhadi Shakshuki,

Habib Youssef

Publication year - 2014

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2014.05.466

Subject(s) - tabu search , computer science , guided local search , grid , planner , mathematical optimization , motion planning , path (computing) , genetic algorithm , scale (ratio) , algorithm , robot , artificial intelligence , machine learning , mathematics , physics , geometry , quantum mechanics , programming language

This paper investigates the capabilities of tabu search for solving the global path planning problem in grid maps. Accordingly, a tabu search system model is designed and a tabu search planner algorithm for solving the path planning problem is proposed. A comprehensive simulation study is conducted using the proposed model and algorithm, in terms of solution quality and execution time. A comparison between our results with those of A* and genetic algorithms (GA) is presented for small, medium and large-scale grid maps. Simulation results show that the tabu search planner is able to find the optimal solution for small scale environments. However, for large scale maps, it provides near-optimal solutions with small gap while ensuring shorter execution times as compared to the A* Algorithm. A discussion about the advantages and limitations of TS for solving a path planning problem is also presented

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