A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

被引：25

作者：

Mohanty P.K. ^{[1
]}

Parhi D.R. ^{[1
]}

机构：

[1] Robotics Laboratory, National Institute of Technology, Rourkela

来源：

Frontiers of Mechanical Engineering | 2014年 / 9卷 / 4期

关键词：

Invasive Weed Optimization; mobile robot; navigation; obstacle avoidance;

D O I：

10.1007/s11465-014-0304-z

中图分类号：

学科分类号：

摘要：

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation. © 2014, Higher Education Press and Springer-Verlag Berlin Heidelberg.

引用

页码：317 / 330

页数：13

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