Path-planning for an autonomous robot using a simulating annealing

Abstract

The main purpose of this paper is to solve the problem of robotic path-planning utilizing a simulating annealing (SA) algorithm, a robust scheme used in searching for the global optimum by imitating the softening process of metal. In this paper, a two dimensional mobile robot used in two barrier systems has been introduced. The simulating annealing algorithm provides a solid alternative to conventional methods of path-planning. Moreover, the optimization parameters for the desired path can easily be changed without a total overhaul of the overall algorithm. Consequently, an efficient path that avoids obstacles within a working area can be easily found using the SA algorithm.