Abstract
Nowadays, the usage of autonomous mobile robots that fulfill various activities in enormous number of applications without human’s interference in a dynamic environment are thriving. A dynamic environment is the robot’s environment which is comprised of some static obstacles as well as several movable obstacles that their quantity and location change randomly through the time. Efficient path planning is one the significant necessities of these kind of robots to do their tasks effectively. Mobile robot path planning in a dynamic environment is finding a shortest possible path from an arbitrary starting point toward a desired goal point which needs to be safe (obstacle avoidance) and smooth as well as possible. To achieve this target, simultaneously satisfying a collection of certain constraints including the shortest, smooth, and collision free path is required. Therefore, this issue can be considered as an optimization problem, consequently solved via optimization algorithms. In this article, a new method based on cuckoo optimization algorithm is proposed for solving the mobile robot path planning problem in a dynamic environment. Furthermore, to diminish the computational complexity, the feature vector is also optimized (i.e. reduced in dimension) via a new proposed technique. The simulation results show the performance of proposed algorithm in finding a short, safe, smooth, and collision free path in different environment conditions.
Highlights
In the modern era, a variety of different aspects of human life have been involved in using intelligent machines that are able to do various activities in dynamic environments
We introduce an algorithm for solving the mobile robot path planning problem
Autonomous mobile robots, which work in a dynamic environment that is composed of several static and movable obstacles, play a vital rule in many aspects of daily life from industry to human-aid usage
Summary
A variety of different aspects of human life have been involved in using intelligent machines that are able to do various activities in dynamic environments. Autonomous mobile robots have been taken into consideration by researchers in last decades. These robots are used in plenty of various activities including human assistant in daily life, working in high-level dangerous environments, fulfilling impossible tasks for human (e.g. exploration in space and discovery operations). They need to directly extract information from their surroundings without human interferes, move within the environment, make decision, and perform their tasks safely, meaningfully, and independently using the knowledge they already gained.
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