Improved Trajectory Planning of Mobile Robot Based on Pelican Optimization Algorithm

摘要

The problem of trajectory for mobile robots included motion mobile robot from beginning point to end-point without collision with the obstacles.This article proposed two optimization methods, represented by Pelican Optimization Algorithm (POA) and Particle Optimization Algorithm (PSO) to have optimal trajectory for the mobile wheeled robot without collision in presence of obstacles.A minimization of the Mean Square Error (MSE) of positions (x,y) and orientation (θ) as fitness function for the proposed techniques.The mathematical representation of a mobile wheeled robot has been developed and experimental results have been conducted to verify the numerical results, which have been simulated using MATLAB software environment.The results showed that both POA and PSO could successfully avoid static obstacles.In addition, the results showed that less trajectory error can be obtained with POA as compared to PSO.The experimental validation is done using a BOE-Bot wheeled mobile robot.This robot attached with WiFi camera used to detect the obstacle coordinates using suggested POA algorithm.