Navigation Control of Mobile Robot in Unknown Environments Using Adaptive Cuckoo Search Algorithm

摘要

Navigation is one of the major challenges while designing a mobile robot. This paper introduces a novel path planning method for mobile robot based on Adaptive Cuckoo Search (ACS) algorithm. The classical CS algorithm is modified in terms of step size and local search strategy to make it adaptive approach. We formulate a fitness function considering distance between robot to obstacle and the slope between goal to robot and it is optimized by ACS algorithm to reach the goal in most appropriate path. The performance of the proposed algorithm is verified in simulated environment. It is confirmed that the proposed path planning model successfully completes the navigation control in unknown environments.