We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
A Comparative Study of Optimization Algorithms for Global Path Planning of Mobile Robots.
- Authors
YILDIRIM, Mustafa Yusuf; AKAY, Rüştü
- Abstract
It is an essential issue for mobile robots to reach the target points with optimum cost which can be minimum duration or minimum fuel, depending on the problem. In this paper, it was aimed to develop a software for the optimal path planning of mobile robots in user-defined twodimensional environments with static obstacles and to analyze the performance of some optimization algorithms for this problem using this software. The developed software is designed to create obstacles of different shapes and sizes in the work area and to find the shortest path for the robot using the selected optimization algorithm. Particle Swarm Optimization (PSO), Artificial Bee Colony (ABC) and Genetic Algorithm (GA) were implemented in the software. These algorithms have been tested for optimum path planning in four models with different problem sizes and different difficulty levels. When the results are evaluated, it is observed that the ABC algorithm gives better results than other algorithms in terms of the shortest distance. With this study, the use of optimization algorithms in real-time path planning of land mobile robots or unmanned aerial vehicles can be simulated.
- Subjects
ROBOTIC path planning; MATHEMATICAL optimization; GLOBAL optimization; PARTICLE swarm optimization; MOBILE robots
- Publication
Sakarya University Journal of Science (SAUJS) / Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 2021, Vol 25, Issue 2, p417
- ISSN
1301-4048
- Publication type
Article
- DOI
10.16984/saufenbilder.800067