文章基本信息

标题：A Comparative Study of Optimization Algorithms for Global Path Planning of Mobile Robots
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作者：Mustafa Yusuf YILDIRIM ; Rüştü AKAY
期刊名称：Sakarya University Journal of Science
印刷版ISSN：1301-4048
电子版ISSN：2147-835X
出版年度：2021
卷号：25
期号：2
页码：417-428
DOI：10.16984/saufenbilder.800067
语种：English
出版社：Sakarya University
摘要：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.
关键词：Mobile robot;path planning;cubic spline interpolation;optimization algorithms;simulation