PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENT USING IMPROVED BACTERIAL FORAGING ALGORITHM

摘要

The topic of navigation is one of the focused problems in the correlation of autonomousmobile robots. It is necessary to have a methodology to accomplish a collision path of navigation from aninitial position (state) to a target position (goal). This paper presents a new method for path planning todetermine a feasible, optimal, and safe path. Based on Bacterial Foraging algorithm, we propose an improvedalgorithm for solving the one-line path planning of mobile robots by choosing the proper objective functionfor the target, obstacles, and robots collision avoidance. This algorithm finds a path towards the target andavoiding the obstacles using particles, which are randomly distributed, on a determined area around a robot.The criterion on which it selects the best article is the distance to the target. By the proposed approach, thenext positions of each robot are designed.