Comparing the Performance of ABC Algorithm and ACO Algorithm for Mobile Robot Path Planning in Dynamic Environments with Different Complexities

Yıl 2018, Cilt: 8 Sayı: 4, 1599 - 1608, 01.10.2018

Fatemeh Khosravi Purıan Murtaza Farsadı

Öz

Mobile robot path planning is an important branch of research in robotics science. in this paper, a new approach for
solving mobile robot path planning in dynamic environments, based on the Swarm Intelligence Algorithms feature of an optimized
ABC algorithm is proposed. The proposed ABC will optimize the fuzzy rules’ parameters that have been used for On-line path
planning in dynamic environments. In this study, there is a proposed evaluation function, accordingly, the found path is smoother
and cleaner than the previous studies using other algorithms. In this research, the ABC and ACO are combined with fuzzy logic;
two algorithms are compared with each other. The performance of both combined algorithms in the execution speed and the number
of occurrences for obtaining the optimal path in various unknown environments have been evaluated using MATLAB simulation
methods. The obtained results from the comparison of the performance of these two algorithms developed optimization algorithms
for mobile robots’ path planning.

Anahtar Kelimeler

ABC algorithm;, ACO algorithm;, Fuzzy logic;, Mobile robots; Dynamic environments.

Kaynakça

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