PSO based path planner of an autonomous mobile robot

Abstract

A novel approach based on particle swarm optimization has been presented in this paper for solving mobile robot navigation task. The proposed technique tries to optimize the path generated by an intelligent mobile robot from its source position to destination position in its work space. For solving this problem, a new fitness function has been modelled, which satisfies the obstacle avoidance and optimal path traversal conditions. From the obtained fitness values of each particle in the swarm, the robot moves towards the particle which is having optimal fitness value. Simulation results are provided to validate the feasibility of the developed methodology in various unknown environments.