A COMPARATIVE STUDY FOR WHEELED MOBILE ROBOT PATH PLANNING BASED ON MODIFIED INTELLIGENT ALGORITHMS

摘要

From the time being, there are even instances for application of mobile robots in our lifelike in home, schools, hospitals, etc. The goal of this paper is to plan a path and minimizing thepath lengths with obstacles avoidance for a mobile robot in static environment. In this work wedepict the issue of off-line wheeled mobile robot (WMR) path planning, which best route forwheeled mobile robot from a start point to a target at a plane environment represented by 2-Dwork space. A modified optimization technique to solve the problem of path planning problemusing particle swarm optimization (PSO) method is given. PSO is a swarm intelligence basedstochastic optimization technique which imitate the social behavior of fish schooling or birdflocking, was applied to locate the optimum route for mobile robot so as to reach a target.Simulation results, which executed using MATLAB 2014 programming language, confirmedthat the suggested algorithm outperforms the standard version of PSO algorithm with the sameenvironment conditions by providing the shortest path for mobile robot.