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Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm | ||
| Al-Khwarizmi Engineering Journal | ||
| Article 1, Volume 12, Issue 4, 2016, Pages 26-35 | ||
| Authors | ||
| Nizar Hadi Abbas; Farah Mahdi Ali | ||
| Abstract | ||
| 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. | ||
| Keywords | ||
| Autonomous Mobile Robot; path planning; Static and Dynamic Environments; Bacterial Foraging Optimization Algorithm | ||
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