Waypoint-based path planner for Mobile Robot Navigation using PSO and GA-AIS

摘要

Service Robotic application deployments have taken a giant leap in complexity. They have been successfully deployed in wide range of applications from NASA Mars Rovers to domestic lawn mowers. Waypoint Navigation Systems (WNS) can now be used as an alternate Mobile Robot Navigation (MRN) technique with advances in Global Positioning Systems (GPS) and Global Information systems (GIS).Regardless of the application, the path planning and navigation has remained an important part of Mobile Robot application development. This paper presents two optimization algorithms to solve Path Planning Problem for Robot Navigation. The Particle Swarm Optimization (PSO) and Genetic Algorithm - Artificial Immune System (GA-AIS) were developed and implemented for the path optimization (shortest route) and the behavior of these two algorithms has been compared.