Intelligent path planning for cognitive mobile robot based on Dhouib-Matrix-SPP method

摘要

The Mobile Robot Path Problem looks to find the optimal shortest path from the starting point to the target point with collision-free for a mobile robot. This is a popular issue in robotics and in this paper the environment is considered as static and represented as a bidirectional grid map. Besides, the novel optimal method Dhouib-Matrix-SPP (DM-SPP) is applied to create the optimal shortest path for a mobile robot in a static environment. DM-SPP is a greedy method based on a column row navigation in the distance matrix and characterized by its rapidity to solve sparse graphs. The comparative analysis is conducted by applying DM-SPP on thirteen test cases and comparing its results to the results given by four metaheuristics the Max-Min Ant System, the Ant System with punitive measures, the A* and the Improved Hybrid A*. The outcomes acquired from different scenarios indicate that the proposed DM-SPP method can rapidly outperform the four predefined artificial intelligence methods.