Mobile robot path planning for circular shaped obstacles using simulated annealing

Abstract

Many heuristic methods are used for path planning by researchers in the past and contemporary work but due to easy implementation, convergence properties, capability of escaping local optima and the use of hill-climbing moves have made simulated annealing (SA) a good choice for path planning. In this research the simulated annealing algorithm is used to obtain a collision-free optimal path among fixed circular shaped obstacles for a mobile robot. A feasible path is computed by series of points in cells generated between start to goal point. The effectiveness of the proposed algorithm in different environments is shown through simulation results.