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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) Indonesian Journal of Electrical Engineering and Computer Science
Baraa M. Abed
University of Anbar
Computer Science & IT Engineering

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Multi-objective optimization path planning with moving target Baraa M. Abed; Wesam M. Jasim
IAES International Journal of Artificial Intelligence (IJ-AI) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijai.v11.i3.pp1184-1196

Abstract

Path planning or finding a collision-free path for mobile robots between starting position and its destination is a critical problem in robotics. This study is concerned with the multi objective optimization path planning problem of autonomous mobile robots with moving targets in dynamic environment, with three objectives considered: path security, length and smoothness. Three modules are presented in the study. The first module is to combine particle swarm optimization algorithm (PSO) with bat algorithm (BA). The purpose of PSO is to optimize two important parameters of BA algorithm to minimize distance and smooth the path. The second module is to convert the generated infeasible points into feasible ones using a new local search algorithm (LS). The third module obstacle detection and avoidance (ODA) algorithm is proposed to complete the path, which is triggered when the mobile robot detects obstacles in its field of vision. ODA algorithm based on simulating human walking in a dark room. Several simulations with varying scenarios are run to test the validity of the proposed solution. The results show that the mobile robots are able to travel clearly and completely safe with short path, proving the effectiveness of this method.  
Hybrid approach for multi-objective optimization path planning with moving target Baraa M. Abed; Wesam M. Jasim
Indonesian Journal of Electrical Engineering and Computer Science Vol 29, No 1: January 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v29.i1.pp348-357

Abstract

Path planning algorithms are the most significant area in the robotics field. Path planning (PP) can be defined as the process of determining the most appropriate navigation path before a mobile robot moves. Path planning optimization refers to finding the optimal or near-optimal path. Multi-objective optimization (MOO) is concerned with finding the best solution values that satisfy multiple objectives, such as shortness, smoothness, and safety. MOO present the challenge of making decisions while balancing these contradictory issues through compromise (tradeoff). As a result, there is no single solution appropriate for all purposes in MOO, but rather a range of solutions. Several objectives are considered as part of this study, including path security, length, and smoothness, when planning paths for autonomous mobile robots in a dynamic environment with a moving target. Particle swarm optimization (PSO) algorithms are combined with bat algorithms (BA) to make a balance between exploration and exploitation. PSO algorithms used to optimize two important parameters of the bat algorithm. The proposed solution is tested through several simulations based on varying scenarios. The results demonstrate that mobile robots can travel clearly and safely along short paths and smoothly, proving this method's efficiency.
Co-Authors Wesam M. Jasim