Path planning of mobile robot using improved artificial bee colony algorithm
Joint Authors
Ulaywi, Bushra Kazim
Kamil, Rka T.
Muhammad, Muhammad J.
Source
Engineering and Technology Journal
Issue
Vol. 38, Issue 9A (30 Sep. 2020), pp.1384-1395, 12 p.
Publisher
Publication Date
2020-09-30
Country of Publication
Iraq
No. of Pages
12
Main Subjects
Topics
Abstract EN
A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit-Artificial Bee Colony Algorithm (ADL-ABC).
To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment.
The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot.
Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm's results in order to evaluate the performance of the suggested algorithm.
The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludesunnecessary Iteration, so it can find solution with minimum number of iterations and less computational time.
From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage free with circular shaped static obstacles on robot environment.
The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot.
Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm's results in order to evaluate the performance of the suggested algorithm.
The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludesunnecessary Iteration, so it can find solution with minimum number of iterations and less computational time.
From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5% .
American Psychological Association (APA)
Kamil, Rka T.& Muhammad, Muhammad J.& Ulaywi, Bushra Kazim. 2020. Path planning of mobile robot using improved artificial bee colony algorithm. Engineering and Technology Journal،Vol. 38, no. 9A, pp.1384-1395.
https://search.emarefa.net/detail/BIM-1236320
Modern Language Association (MLA)
Muhammad, Muhammad J.…[et al.]. Path planning of mobile robot using improved artificial bee colony algorithm. Engineering and Technology Journal Vol. 38, no. 9A (2020), pp.1384-1395.
https://search.emarefa.net/detail/BIM-1236320
American Medical Association (AMA)
Kamil, Rka T.& Muhammad, Muhammad J.& Ulaywi, Bushra Kazim. Path planning of mobile robot using improved artificial bee colony algorithm. Engineering and Technology Journal. 2020. Vol. 38, no. 9A, pp.1384-1395.
https://search.emarefa.net/detail/BIM-1236320
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 1394-1395
Record ID
BIM-1236320