Mobile Robot Path Planning by Improved Brain Storm Optimization Algorithm

摘要

Robots have found their purpose in various situations, from speeding the manufacturing processes to performing complicated tasks in dangerous and hostile environments. One of the important problems in robotics is mobile robot path planning. Robot path planning represents a hard optimization problem that needs to be solved in numerous applications. In this paper we propose path planning method in environments with static obstacles based on the recent swarm intelligence algorithm, brain storm optimization. The brain storm optimization algorithm was improved by local search procedure that each new candidate solution moves to the local best position thus reducing computational time. We tested the proposed method on several benchmark examples from the literature and it has been shown that our approach finds better and more consistent paths using less computational time.