Mobile robot path planning based on adaptive bacterial foraging algorithm

• Published in: Journal of Central South University Vol. 20; no. 12; pp. 3391 - 3400
• Main Authors: Liang, Xiao-dan, Li, Liang-yu, Wu, Ji-gang, Chen, Han-ning
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.12.2013
• Subjects: Engineering; Metallic Materials; adaptation; bacterial foraging behaviors; robot path planning; swarm intelligence
• ISSN: 2095-2899; 2227-5223
• DOI: 10.1007/s11771-013-1864-5

The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.