A multi-objective optimal mobile robot path planning based on whale optimization algorithm

Abstract

Due to the complex physical constraints in working space of robot, optimization for mobile robot operations satisfies not only one criterion but also several criteria. In this paper, a novel multi-objective method for optimal mobile robot path planning based on Whale optimization algorithm (WOA) is proposed. In the proposed method, two criteria of distance and smooth path of the robot path planning issue are transformed into a minimization one. The positions of the target and the obstacles in the environment are considered the fitness for the solution in WOA. The position of the globally best whale in each iteration is selected, and reached by the robot in sequence. In addition, the robot processor updates its information during the motion, and the environment is partially unknown for the robot due to the limit of the detection range of its sensors. Series of simulations are implemented in different static environments for the optimal path when the robot reaches its target. The results show that the proposed method provides the robot reaches its target with colliding free obstacles, and the proposed method may be the alternative method of optimization for robot planning.