Optimum Navigation of Four-Wheeled Ground Robot in Stationary and Non-stationary Environments Using Wind-Driven Optimization Algorithm

Abstract

In this article, the atmospheric motion-based inspired wind-driven optimization (WDO) algorithm is implemented to minimize the traveling path length of a four-wheeled ground robot (FWGR) in different stationary and non-stationary environmental conditions. This optimization algorithm works on the principle of atmospheric motion of very small air particles, which revolves over the multi-dimensional search area. In the present study, WDO algorithm is employed to search a minimal or near-minimal steering angle for the (FWGR); this steering angle minimizes the path length during motion, orientation, and collision avoidance. The objective function for the WDO algorithm has been created for two reasons: for obstacle avoidance and traveling path optimization in the environments from the source point to the endpoint. Simulation results demonstrate that the FWGR covers a shorter path length using WDO algorithm as compared to the path length obtained by the FWGR using particle swarm optimization (PSO) algorithm and genetic algorithm (GA).