Optimized Path Planning for Three-Wheeled Autonomous Robot Using Teaching–Learning-Based Optimization Technique

Abstract

Path planning is a leading topic in the field of the wheeled robot (WR). Three basic characteristic path planning should have when the WR is traveling toward the goal: (1) obtain information about the given working space conditions, (2) location of itself, and (3) optimize the decision to reach the target. The current research paper focuses on obtaining an efficient and robust technique to guide the WR. Teaching–learning-based optimization technique is the centerpiece of the present research work. Fitness function has been presented to optimize the path planning and reaching target. Parameters selected for the proposed technique are (1) distance between robot, start point, goal, and obstacles and (2) turning angle while avoiding obstacles. The technique is examined in various environments with the different level of difficulties. The WR efficiently reaches the target by avoiding collision with the obstacles. In addition, the proposed technique is compared with the previously used technique. The obtained simulated results justified that the teaching–learning-based optimization technique selects better travel path and have shorter travel length.