Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm

Rkaa Kamil, Control and Systems Department, University of Technology-Iraq, Baghdad, Iraq.Follow
Mohamed Mohamed, Control and Systems Department, University of Technology-Iraq, Baghdad, IraqFollow
Bashra Oleiwi, Control and Systems Department, University of Technology-Iraq, Baghdad, IraqFollow

Keywords

path planning, Artificial bee colony algorithm, Static environment, Mobile Robot

Document Type

Research Paper

Abstract

A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit- Artificial Bee Colony Algorithm (ADL-ABC). To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment. The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot. Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm’s results in order to evaluate the performance of the suggested algorithm. The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludes unnecessary Iteration, so it can find solution with minimum number of iterations and less computational time. From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5%.

Recommended Citation

Kamil, Rkaa; Mohamed, Mohamed; and Oleiwi, Bashra (2026) "Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm," Engineering and Technology Journal: Vol. 38: Iss. 9, Article 13.
DOI: https://doi.org/10.30684/etj.v38i9A.1100

DOI

10.30684/etj.v38i9A.1100

First Page

1384

Last Page

1395

Download

COinS