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

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 stati...

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Autores principales:	Ibraheem Kasim Ibraheem, Fatin Hassan Ajeil
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	robotics, Path planning ant colony optimization static environment and collision-avoidance Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/37571c163cdd400dbd882fdd7a83bfff
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id	oai:doaj.org-article:37571c163cdd400dbd882fdd7a83bfff
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spelling	oai:doaj.org-article:37571c163cdd400dbd882fdd7a83bfff2021-12-02T05:46:59ZPath Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques10.22153/kej.2016.08.0021818-11712312-0789https://doaj.org/article/37571c163cdd400dbd882fdd7a83bfff2017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/317https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. Ibraheem Kasim IbraheemFatin Hassan AjeilAl-Khwarizmi College of Engineering – University of Baghdadarticlerobotics,Path planningant colony optimizationstatic environmentand collision-avoidanceChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 12, Iss 4 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotics, Path planning ant colony optimization static environment and collision-avoidance Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	robotics, Path planning ant colony optimization static environment and collision-avoidance Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ibraheem Kasim Ibraheem Fatin Hassan Ajeil Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
description	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.
format	article
author	Ibraheem Kasim Ibraheem Fatin Hassan Ajeil
author_facet	Ibraheem Kasim Ibraheem Fatin Hassan Ajeil
author_sort	Ibraheem Kasim Ibraheem
title	Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
title_short	Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
title_full	Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
title_fullStr	Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
title_full_unstemmed	Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
title_sort	path planning of an autonomous mobile robot using swarm based optimization techniques
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/37571c163cdd400dbd882fdd7a83bfff
work_keys_str_mv	AT ibraheemkasimibraheem pathplanningofanautonomousmobilerobotusingswarmbasedoptimizationtechniques AT fatinhassanajeil pathplanningofanautonomousmobilerobotusingswarmbasedoptimizationtechniques
_version_	1718400222618451968

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

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