An intelligent water drops algorithm for solving robot path planning problem

In this paper, generalized intelligent water drops (IWD) algorithm is proposed to solve robot path planning problem. The proposed algorithm has two levels; first level, finds best global path. Second level, performs local search at relatively near distances of global path and reduces its length and response time. IWD algorithm, like other nature-inspired algorithms, has not a mechanism to deal with constrained optimization problem. So, a mechanism has been proposed based on repair of infeasible solutions. In this mechanism, proposed local search operator repairs some of infeasible solutions. Simulation result shows ability of IWD algorithm in finding the optimal path.