Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm | ||
| Engineering and Technology Journal | ||
| Article 13, Volume 38, 9A, September 2020, Pages 1384-1395 PDF (1.43 M) | ||
| Document Type: Research Paper | ||
| DOI: 10.30684/etj.v38i9A.1100 | ||
| Authors | ||
| Rkaa T. Kamil* 1; Mohamed J. Mohamed2; Bashra K. Oleiwi2 | ||
| 1Control and Systems Department, University of Technology-Iraq, Baghdad, Iraq. | ||
| 2Control and Systems Department, University of Technology-Iraq, Baghdad, Iraq | ||
| Abstract | ||
| A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit- Artificial Bee Colony Algorithm (ADL-ABC). To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment. The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot. Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm’s results in order to evaluate the performance of the suggested algorithm. The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludes unnecessary Iteration, so it can find solution with minimum number of iterations and less computational time. From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5%. | ||
| Keywords | ||
| path planning; Artificial bee colony algorithm; Static environment; Mobile Robot | ||
| References | ||
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