WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 11, 2016
Comparison of GSA, SA and PSO Based Intelligent Controllers for Path Planning of Mobile Robot in Unknown Environment
Authors: , ,
Abstract: Now-a-days autonomous mobile robots have found applications in diverse fields. An Autonomous robot system must be able to behave in an intelligent manner to deal with complex and changing environment. This work proposes the performance of path planning and navigation of autonomous mobile robot using Gravitational Search Algorithm (GSA), Simulated Annealing (SA) and Particle Swarm optimization (PSO) based intelligent controllers in an unstructured environment. The approach not only finds a valid collision free path but also optimal one. The main aim of the work is to minimize the length of the path and duration of travel from a starting point to a target while moving in an unknown environment with obstacles without collision. Finally, a comparison is made between the three controllers. It found that the path length and time duration made by the robot using GSA is better than SA and PSO based controllers for the same work
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Keywords: Autonomous Mobile Robot, Collision Free Path, Gravitational Search Algorithm, Particle Swarm Optimization, Simulated Annealing Algorithm, Path Planning
Pages: 177-188
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 11, 2016, Art. #21