Optimal Robot Path Planning using Enhanced Particle Swarm Optimization algorithm

The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm Optimization (PSO) that finds the optimal path with respect...

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Bibliographic Details
Published in:Iraqi journal of science 2020-01, p.178-184
Main Authors: Mohammed, Athraa Jasim, Ghathwan, Khalil Ibrahim, Yusof, Yuhanis
Format: Article
Language:English
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Summary:The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm Optimization (PSO) that finds the optimal path with respect to avoiding the obstacles while ensuring safety. In PSO, the sub-optimal solution takes place frequently while finding a solution to the optimal path problem. This paper proposes an enhanced PSO algorithm that contains an improved particle velocity. Experimental results show that the proposed Enhanced PSO performs better than the standard PSO in terms of solution’s quality. Hence, a mobile robot implementing the proposed algorithm operates better and is more secure. 
ISSN:0067-2904
2312-1637
DOI:10.24996/ijs.2020.61.1.20