Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
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Keywords

robotics,
Path planning
ant colony optimization
static environment
and collision-avoidance

How to Cite

Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques. (2017). Al-Khwarizmi Engineering Journal, 12(4), 12-25. https://doi.org/10.22153/kej.2016.08.002

Publication Dates

Abstract

This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.

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