Metaheuristic optimization approach to mobile robot path planning

Author

Hussein, Ahmed ; Mostafa, Heba ; Badrel-din, Mohamed ; Sultan, Osama ; Khamis, Alaa

Author_Institution

Robotics and Autonomous Systems (RAS) Research Group, Department of Mechatronics Engineering - German University in Cairo, Egypt

fYear

2012

fDate

10-11 Oct. 2012

Firstpage

1

Lastpage

6

Abstract

This paper presents a metaheuristic optimization-based approach to mobile robot path planning problem. A comparative study between trajectory-based metaheuristic optimization and population-based metaheuristic optimization is conducted. Breadth-first deterministic search is used to find the optimal solution (ground truth) that is compared to the paths generated by tabu search, simulated annealing and genetic algorithm. The experimental study shows that simulated annealing outperforms the other algorithms in terms of computational time while tabu search gives the shortest path.

Keywords

genetic algorithms; mobile robots; path planning; search problems; simulated annealing; trajectory control; breadth first deterministic search; genetic algorithm; mobile robot path planning; population based metaheuristic optimization; simulated annealing; tabu search; trajectory based metaheuristic optimization; Algorithm design and analysis; Genetic algorithms; Mobile robots; Path planning; Simulated annealing; Genetic Algorithm; Mobile robots; Path Planning; Simulated Annealing; Stochastic Optimization; Tabu Search;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering and Technology (ICET), 2012 International Conference on

Conference_Location

Cairo

Print_ISBN

978-1-4673-4808-9

Type

conf

DOI

10.1109/ICEngTechnol.2012.6396150

Filename

6396150