This study aims to modify a nature-based numerical method named the invasive weed optimization (IWO) method for mobile robot path planning in various complex environments.

    Design/methodology/approach

    The existing IWO method is quick in converging to a feasible solution but in a complex environment; it takes more time as well as computational resources. So, in this paper, the computational part of this artificial intelligence technique is modified with the help of recently developed evolution algorithms like particle swarm optimization, genetic algorithm, etc. Some conditional logic statements were used while doing sensor-based mapping for exploring complex paths. Implementation of sensor-based exploration, mathematical IWO method and prioritizing them for better efficiency made this modified IWO method take complex dynamic decisions.

    Findings

    The proposed modified IWO is better for dynamic obstacle avoidance and navigating a long complex map. The deviation of results in simulation and experiments is less than 5.5%, which validates a good agreement between simulation and real-time testing platforms.

    Originality/value

    As per a deep literature review, it has found that the proposed approach has not been implemented on the Khepera-III robot for smooth motion planning. Here a dynamic obstacle mapping feature is implemented. A method to selectively distribute seeds instead of a random normal distribution is also implemented in this work. The modified version of IWO is coded in MATLAB and simulated through V-Rep simulation software. The integration of sensors was done through logical conditioning. The simulation results are validated using real-time experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modified invasive weed optimization-based path exploration for mobile robot


    Additional title:

    Optimization technique for path planning


    Contributors:


    Publication date :

    2024-01-24


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Improved Modified Chaotic Invasive Weed Optimization Approach to Solve Multi-Target Assignment for Humanoid Robot

    Kashyap, Abhishek Kumar / Parhi, Dayal / Pandey, Anish | BASE | 2021

    Free access

    PATH OPTIMIZATION METHOD AND SYSTEM FOR MOBILE ROBOT

    ZHENG ZHENXING / OUYANG JIAN / YE GUIFANG | European Patent Office | 2024

    Free access


    Multi Robot Space Exploration: A Modified Frequency Whale Optimization Approach

    Gul, Faiza / Mir, Suleman / Mir, Imran | TIBKAT | 2022