Optimal robot path planning using enhanced particle swarm optimization algorithm
The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm Optimization (PSO) that finds the optimal path with respect...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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University of Baghdad.
2020
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| Online Access: | https://repo.uum.edu.my/id/eprint/26809/1/IJS%2061%201%202020%20178%20184.pdf |
| _version_ | 1825805539651616768 |
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| author | Mohammed, Athraa Jasim Ghathwan, Khalil Ibrahim Yusof, Yuhanis |
| author_facet | Mohammed, Athraa Jasim Ghathwan, Khalil Ibrahim Yusof, Yuhanis |
| author_sort | Mohammed, Athraa Jasim |
| collection | UUM |
| description | The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm
Optimization (PSO) that finds the optimal path with respect to avoiding the obstacles while ensuring safety. In PSO, the sub-optimal solution takes place frequently while finding a solution to the optimal path problem. This paper proposes
an enhanced PSO algorithm that contains an improved particle velocity. Experimental results show that the proposed Enhanced PSO performs better than the standard PSO in terms of solution’s quality. Hence, a mobile robot implementing the proposed algorithm operates better and is more secure. |
| first_indexed | 2024-07-04T06:33:59Z |
| format | Article |
| id | uum-26809 |
| institution | Universiti Utara Malaysia |
| language | English |
| last_indexed | 2024-07-04T06:33:59Z |
| publishDate | 2020 |
| publisher | University of Baghdad. |
| record_format | eprints |
| spelling | uum-268092020-02-12T07:42:26Z https://repo.uum.edu.my/id/eprint/26809/ Optimal robot path planning using enhanced particle swarm optimization algorithm Mohammed, Athraa Jasim Ghathwan, Khalil Ibrahim Yusof, Yuhanis QA75 Electronic computers. Computer science The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm Optimization (PSO) that finds the optimal path with respect to avoiding the obstacles while ensuring safety. In PSO, the sub-optimal solution takes place frequently while finding a solution to the optimal path problem. This paper proposes an enhanced PSO algorithm that contains an improved particle velocity. Experimental results show that the proposed Enhanced PSO performs better than the standard PSO in terms of solution’s quality. Hence, a mobile robot implementing the proposed algorithm operates better and is more secure. University of Baghdad. 2020 Article PeerReviewed application/pdf en https://repo.uum.edu.my/id/eprint/26809/1/IJS%2061%201%202020%20178%20184.pdf Mohammed, Athraa Jasim and Ghathwan, Khalil Ibrahim and Yusof, Yuhanis (2020) Optimal robot path planning using enhanced particle swarm optimization algorithm. Iraqi Journal of Science, 2020, 61 (1). pp. 178-184. ISSN 0067-2904 http://scbaghdad.edu.iq/eijs/index.php/eijs/article/view/1133 |
| spellingShingle | QA75 Electronic computers. Computer science Mohammed, Athraa Jasim Ghathwan, Khalil Ibrahim Yusof, Yuhanis Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title | Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title_full | Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title_fullStr | Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title_full_unstemmed | Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title_short | Optimal robot path planning using enhanced particle swarm optimization algorithm |
| title_sort | optimal robot path planning using enhanced particle swarm optimization algorithm |
| topic | QA75 Electronic computers. Computer science |
| url | https://repo.uum.edu.my/id/eprint/26809/1/IJS%2061%201%202020%20178%20184.pdf |
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