Α New Method to Generate the Initial Population of the Bees Algorithm for Robot Path Planning in a Static Environment

Abstract

This research work presents a modified form of the Bees Algorithm for mobile robotMobile robot path planningPath planning. This modification is based on an alternative method to generate the initial population of the Bees Algorithm. The proposed method is adopted with the Bees AlgorithmBees Algorithm to find the shortest collision-free pathCollision-free path for a mobile robotMobile robot in static environmentsStatic environment. The environment is represented using a 2D configuration space method that includes the robot and stationary obstaclesStationary obstacles—this representation guarantees dealing with a continuous mapMaps as a reality. The new approach of initialising the population of the BeesBees Algorithm ensures finding the initial paths even though the complexity of the given environment. The local searchLocal Search and global searchGlobal Search are also implemented to enhance the initial solutions. Several benchmark mapsMaps were simulated to compute the fitness of the generated paths. The results obtained using the Bees AlgorithmBees Algorithm for path planningPath planning were compared with those of other algorithms. The simulation proved the significant performance of the Bees Algorithm. The comparison results show the efficiency and superiority of the proposed method in finding the shortest pathShortest path.