Mobile Robot Path Planning Based Upon Updated Whale Optimization Algorithm

摘要

Automated navigation is an important feature of any mobile robot and is a challenge for a robot to plan the path in an unknown environment. We can categorize the path planning strategy of robots in two methods, first is the Classical Methods and second is Heuristic Methods. In this paper, a modified whale optimization algorithm is proposed that ensures an optimal collision-free path. In whale optimization algorithm (WOA) the fitness of any whale will be calculated by taking in consideration the target location and the obstacles in the search space. Many simulations were run in different search spaces to find the optimal path at the end of the iterations when the individual reaches the final destination (target location). The simulation and results show, the proposed modified WOA is feasible for mobile robot path selection problems.