Open AccessPath Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
Author(s) -
Nizar Hadi Abbas,
Farah Mahdi Ali
Publication year - 2017
Publication title -
al-khwarizmi engineering journal/al-khwarizmi engineering journal
Language(s) - English
Resource type - Journals
eISSN - 2312-0789
pISSN - 1818-1171
DOI - 10.22153/kej.2016.01.001
Subject(s) - motion planning , mobile robot , terrain , path (computing) , foraging , workspace , computer science , point (geometry) , robot , mathematical optimization , algorithm , artificial intelligence , mathematics , geography , ecology , biology , geometry , cartography , programming language
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.