Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm

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 f...

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Autores principales:	Nizar Hadi Abbas, Farah Mahdi Ali
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Autonomous Mobile Robot Path Planning Static and Dynamic Environments Bacterial Foraging Optimization Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/e083935e20c44718bdd6c6791bab6fc2
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spelling	oai:doaj.org-article:e083935e20c44718bdd6c6791bab6fc22021-12-02T07:16:40ZPath Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm10.22153/kej.2016.01.0011818-11712312-0789https://doaj.org/article/e083935e20c44718bdd6c6791bab6fc22017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/316https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. Nizar Hadi AbbasFarah Mahdi AliAl-Khwarizmi College of Engineering – University of BaghdadarticleAutonomous Mobile RobotPath PlanningStatic and Dynamic EnvironmentsBacterial Foraging Optimization AlgorithmChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 12, Iss 4 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Autonomous Mobile Robot Path Planning Static and Dynamic Environments Bacterial Foraging Optimization Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Autonomous Mobile Robot Path Planning Static and Dynamic Environments Bacterial Foraging Optimization Algorithm Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Nizar Hadi Abbas Farah Mahdi Ali Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
description	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.
format	article
author	Nizar Hadi Abbas Farah Mahdi Ali
author_facet	Nizar Hadi Abbas Farah Mahdi Ali
author_sort	Nizar Hadi Abbas
title	Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
title_short	Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
title_full	Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
title_fullStr	Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
title_full_unstemmed	Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
title_sort	path planning of an autonomous mobile robot using enhanced bacterial foraging optimization algorithm
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/e083935e20c44718bdd6c6791bab6fc2
work_keys_str_mv	AT nizarhadiabbas pathplanningofanautonomousmobilerobotusingenhancedbacterialforagingoptimizationalgorithm AT farahmahdiali pathplanningofanautonomousmobilerobotusingenhancedbacterialforagingoptimizationalgorithm
_version_	1718399548732211200

Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm

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