New Ecologically Inspired Algorithm for Mobile Robot Navigation

摘要

The present paper describes a new optimal route planning for mobile robot navigation based on the invasive weed optimization (IWO) algorithm. This nature inspired meta-heuristic algorithm is based on the colonizing property of weeds. A new objective function has been framed between the robot to position of the goal and obstacles, which satisfied both obstacle avoidance and target seeking behavior of robot present in the environment. Depending upon the objective function value of each weed in the colony the robot that avoids obstacles and moves towards the goal. The mobile robot shows robust performance in various complex environments and local minima situation. Finally, the effectiveness of the developed path planning algorithm has been analyzed in various scenarios populated variety of static obstacles.