Improved Motion Planning of Humanoid Robots Using Bacterial Foraging Optimization

摘要

This paper emphasizes on Bacterial Foraging Optimization Algorithm for effective and efficient navigation of humanoid NAO, which uses the foraging quality of bacteria Escherichia coli for getting shortest path between two locations in minimum time. The Gaussian cost function assigned to both attractant and repellent profile of bacterium performs a major role in obtaining the best path between any two locations. Mathematical formulations have been performed to design the control architecture for humanoid navigation using the proposed methodology. The developed approach has been tested in a simulation platform, and the simulation results have been validated in an experimental platform. Here, motion planning for both single and multiple humanoid robots on a common platform has been performed by integrating a petri-net architecture for multiple humanoid navigation. Finally, the results obtained from both the platforms are compared in terms of suitable navigational parameters, and proper agreements have been observed with minimal amount of error limits.