Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm


  • Tahseen Fadhil Abbas Department of Production Engineering and Metallurgy/ University of Technology/ Baghdad/ Iraq
  • Alaa Hassan Shabeeb Department of Production Engineering and Metallurgy, University of Technology, Baghdad



planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the performance of the proposed algorithm. Simulations results showed that the proposed path planning algorithm effective performance by finding the shortest and free-collision path in different collide environments. Furthermore, the superiority of the proposed algorithm was proved through comparisons with other famous path planning algorithms with different static environments.



Download data is not yet available.


T. F. Abaas, and A. H. Shabeeb. "Autonomous Mobile Robot Navigation Based on PSO Algorithm with Inertia Weight Variants for Optimal Path Planning." IOP Conference Series: Materials Science and Engineering. Vol. 928. No. 2. IOP Publishing, 2020.

A. S. Al-Araji, A. K. Ahmed, and M. K. Hamzah. "Development of a Path Planning Algorithms and Controller Design for Mobile Robot." 2018 Third Scientific Conference of Electrical Engineering (SCEE). IEEE, 2018.

A. S. Al-Araji, and N. Q. Yousif. "A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot." Al-Khwarizmi Engineering Journal 13, no. 3 :64-73, 2017.

B. B. Kwame, R. Chellali, A. Y. Appiah, and F. Kyeremeh. "An overview of nature-inspired, conventional, and hybrid methods of autonomous vehicle path planning." Journal of Advanced Transportation, 2018.

I. K. Ibraheem, and F. H. Ajeil. "Path planning of an autonomous mobile robot using swarm based optimization techniques." Al-Khwarizmi Engineering Journal 12, no. 4 (2016): 12-25.

H. Kong, J. Sun, and J. Hu. "Real-time Motion Planning Based on Layered Cost Map for AGV Navigation." In 2020 Chinese Automation Congress (CAC), pp. 7624-7628. IEEE, 2020.

C. B. Lamini, S. and, A. Elbekri. " Genetic algorithm based approach for autonomous mobile robot path planning". Procedia Computer Science, 127, pp.180-184, 2018

R. Uriol, and A. Moran. "Mobile robot path planning in complex environments using ant colony optimization algorithm." In 2017 3rd international conference on control, automation and robotics (ICCAR), pp. 15-21. IEEE, 2017.

H. S. Dewang, P. K. Mohanty, and S. Kundu. "A robust path planning for mobile robot using smart particle swarm optimization." Procedia computer science 133 (2018): 290-297.

R. T. Kamil,, M. J. Mohamed, and Bashra K. Oleiwi. "Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm." Engineering and Technology Journal 38, no. 9A: 1384-1395, 2020.

F. H. Ajeil, I. K. Ibraheem, M. A. Sahib, and A. J. Humaidi. "Multi-objective path planning of an autonomous mobile robot using hybrid PSO-MFB optimization algorithm." Applied Soft Computing Vol 89: 106076 ,2020.

A. M. Rao, K. Ramji, and T. N. Kumar. "Intelligent navigation of mobile robot using grey wolf colony optimization." Materials Today: Proceedings 5, no. 9:19116-19125, 2018.

M. M. AL-Nayar, K. E. Dagher, and E. A. Hadi. "A comparative study for wheeled mobile robot path planning based on modified intelligent algorithms." The Iraqi Journal for Mechanical and Materials Engineering 19, no. 1 : 60-74, 2019.

S. Nadimi, M. H., S.Taghian, and S. Mirjalili. "An improved grey wolf optimizer for solving engineering problems." Expert Systems with Applications Vol 166: 113917, 2021.

T. F. Abaas, and A. H. Shabeeb. "Safe and Optimum Navigation of Wheeled Mobile Robot using Grey Wolf Optimization Algorithm." IOP Conference Series: Materials Science and Engineering. Vol. 928. No. 2. IOP Publishing, 2020.

D. Pang, G. Guan, and J. Li. "Chaotic Firefly Algorithm with the Optimization Adjustment Strategy for Mobile Robot Path Planning." International Journal of Science 4, no. 3 (2017).

N.H. Abbas and Ali, F.M., Path planning of an autonomous mobile robot using enhanced bacterial foraging optimization algorithm. Al-Khwarizmi Engineering Journal, 12(4), pp.26-35, 2016.




How to Cite

Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm. (2022). Al-Khwarizmi Engineering Journal, 18(2).