University of TechnologyIRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING1811-921221220211022An Optimal Path Planning Algorithms for a Mobile Robot4458169700ENOmar Abdul RazzaqAbdul WahhabComputer Engineering Dept, University of Technology, Baghdad, Iraq.Ahmed S.Al-Araji1Computer Engineering Dept, University of Technology, Baghdad, IraqJournal Article20210219The goal of navigating a mobile robot is to find the optimal path to direct its<br />movement, so path planning is the best solution to find the optimal path. Therefore, the<br />two most important problems of path planning must be solved; the first is that the path<br />must avoid collision with obstacles, and second it must reduce the length of the path to a<br />minimum. This paper will discuss finding the shortest path with the optimum cost function<br />by using the Chaotic Particle Swarm Optimization (CPSO), and A*, compare the results<br />between them and the proposed hybrid algorithm that combines A* and Chaotic Particle<br />Swarm Optimization (ACPSO) algorithms to enhance A* algorithm to find the optimal<br />path and velocities of the wheeled mobile robot. These algorithms are simulated by<br />MATLAB in a fixed obstacles environment to show the effectiveness of the proposed<br />algorithm in terms of minimum number of an evaluation function and the shortest path<br />length as well as to obtain the optimal or near optimal wheel velocities.https://ijccce.uotechnology.edu.iq/article_169700_1bc741f3e899f143369abb18153b8465.pdf