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The topic of navigation is one of the focused problems in the correlation of autonomous mobile robots. It is necessary to have a methodology to accomplish a collision path of navigation from an initial position (state) to a target position (goal). This paper presents a new method for path planning to determine a feasible, optimal, and safe path. Based on Bacterial Foraging algorithm, we propose an improved algorithm for solving the one-line path planning of mobile robots by choosing the proper objective function for the target, obstacles, and robots collision avoidance. This algorithm finds a path towards the target and avoiding the obstacles using particles, which are randomly distributed, on a determined area around a robot. The criterion on which it selects the best article is the distance to the target. By the proposed approach, the next positions of each robot are designed.

PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENT USING IMPROVED BACTERIAL FORAGING ALGORITHM