Path Planning and Control of Mobile Robots Using Modified Tabu Search Algorithm in Complex Environment

Abstract

An innovative modified Tabu search technique is developed for the effective navigation of mobile robots in complex environment. The method is modified to improve the efficiency of mobile robot towards having optimized path in short duration of time. Tabu search method works on the principle of getting shortest path by forming a Tabu list, which informs the mobile robot not to visit the previously visited positions and helps the robot in obtaining the obstacle negotiation angle. The modified Tabu search method helps the mobile robot to travel from any source to target location in any environment with suitable obstacle negotiation angle avoiding hurdles in its path. The developed modified algorithm has been incorporated in mobile robots and various trials were carried out in different environments to confirm the effectiveness of modified algorithm.