Optimal Robot Path Planning using Enhanced Particle Swarm Optimization algorithm

  • Athraa Jasim Mohammed Computer Science Department, University of Technology, Baghdad, Iraq
  • Khalil Ibrahim Ghathwan Computer Science Department, University of Technology, Baghdad, Iraq
  • Yuhanis Yusof School of Computing, Universiti Utara Malaysia
Keywords: optimal path, path planning, PSO, global search, optimization algorithm

Abstract

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. 

Published
2020-01-27
How to Cite
Mohammed, A. J., Ghathwan, K. I., & Yusof, Y. (2020). Optimal Robot Path Planning using Enhanced Particle Swarm Optimization algorithm. Iraqi Journal of Science, 61(1), 178-184. https://doi.org/10.24996/ijs.2020.61.1.20
Section
Computer Science