A multi‐objective approach for local path planning of autonomous mobile robot based on metaheuristics

<p align="left">Path planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal.</p>

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Evaluation of a Local Path-planning Algorithm for a Hospital Located Autonomous Mobile Robot

IET Irish Signals and Systems Conference (ISSC 2012) ◽

10.1049/ic.2012.0215 ◽

2012 ◽

Author(s):

C. McGinn ◽

K. Kelly ◽

O. Brogan ◽

A. Sena

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Autonomous Mobile Robot ◽

Local Path Planning ◽

Planning Algorithm ◽

Local Path ◽

Path Planning Algorithm

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OperativeCriticalPointBug algorithm-local path planning of mobile robot avoiding obstacles

Indonesian Journal of Electrical Engineering and Computer Science ◽

10.11591/ijeecs.v18.i3.pp1646-1656 ◽

2020 ◽

Vol 18 (3) ◽

pp. 1646

Author(s):

Subir Kumar Das ◽

Ajoy Kumar Dutta ◽

Subir Kumar Debnath

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Autonomous Mobile Robot ◽

Moving Obstacles ◽

Local Path Planning ◽

Local Environments ◽

Run Time ◽

Local Path

<span>For Autonomous Mobile Robot one of the biggest and interesting issues is path planning. An autonomous mobile robot should be able determine its own path to reach destination. This paper offers a new algorithm for mobile robot to plan a path in local environments with stationary as well as moving obstacles. For movable robots’ path planning OperativeCriticalPointBug (OCPB) algorithm, is a new Bug algorithm. This algorithm is carried out by the robot throughout the movement from source to goal, hence allowing the robot to rectify its way if a new obstacle comes into the route or any existing obstacle changes its route. According as, not only the robot tries to avoid clash with other obstacle but also tries a series of run time adjustment in its way to produce roughly a best possible path. During journey the robot is believed to be capable to act in an unknown location by acquiring information perceived locally. Using this algorithm the robot can avoid obstacle by considering its own as well as the obstacle’s dimension. The obstacle may be static or dynamic. The algorithm belongs to bug family.</span>

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