Authors
Computer Engineering Dept, University of Technology, Baghdad, Iraq
Abstract
The goal of navigating a mobile robot is to find the optimal path to direct its
movement, so path planning is the best solution to find the optimal path. Therefore, the
two most important problems of path planning must be solved; the first is that the path
must avoid collision with obstacles, and second it must reduce the length of the path to a
minimum. This paper will discuss finding the shortest path with the optimum cost function
by using the Chaotic Particle Swarm Optimization (CPSO), and A*, compare the results
between them and the proposed hybrid algorithm that combines A* and Chaotic Particle
Swarm Optimization (ACPSO) algorithms to enhance A* algorithm to find the optimal
path and velocities of the wheeled mobile robot. These algorithms are simulated by
MATLAB in a fixed obstacles environment to show the effectiveness of the proposed
algorithm in terms of minimum number of an evaluation function and the shortest path
length as well as to obtain the optimal or near optimal wheel velocities.
Keywords
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