Online Optimization Application on Path Planning in Unknown Environments

摘要

For autonomous mobile robots, determining the shortest path to the target is an indispensable requirement. In this work, two modifications of the Grey Wolf Optimization (GWO) method, which are called MGWO1 and MGWO2, are suggested for online path planning to make the mobile robot reach the goal using the shortest path and safely avoiding the obstacles in unknown environments. To avoid sharp curves, a cost function is derived using a path smoothing parameter and an integrated distance function. The results of the proposed approach are presented based on computer simulation in various unknown environments. A study was conducted to compare the performance of the proposed algorithm with those of other algorithms and the results indicated that the proposed GWO, MGWO1, and MGWO2 algorithms are competent in avoiding obstacles successfully including the local minima situation. Finally, the average enhancement rate in path length compared with Adaptive Particle Swarm Optimization (APSO), GWO is 5.30%, MGWO1 is 5.52%, and MGWO2 is 7.44%.