Path Planning Optimization of a Mobile Robot based on Intelligence Algorithm

摘要

Abstract Motion planning is an important topic for researchers working in the field of autonomous robots, it finds an optimal feasible path from start to target point with avoiding the collision, this paper aims to improve motion planning of mobile robot by particle swarm optimization as a method for finding the collision-free optimal path. The objectives considered in this research for optimization are optimal static navigation path with taking into consideration the affect population size on performance for the algorithm to find the optimal path through various environments with population sizes 100, 80, 40, 20. The simulate and evaluate the proposed algorithm proved no strong affected to population size parameter on the optimal path length and its points, hence we can use a small population size for the minimum time in finding the optimal path between start point to goal point with colliding avoidance.