Enhancing Robot Path Planning Through a Twin-Reinforced Chimp Optimization Algorithm and Evolutionary Programming Algorithm

• Published in: IEEE access Vol. 12; pp. 170057 - 170078
• Main Authors: Zhang, Yang, Zhang, Hu
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Animals; Chimp optimization algorithm; Collision avoidance; Complexity; Convergence; Effectiveness; Evolutionary algorithms; Evolutionary computation; evolutionary programming; Heuristic methods; Navigation; Obstacle avoidance; Optimization; Optimization algorithms; Path planning; Performance evaluation; robot; Robot dynamics; Robots; Search algorithms; Trajectory; Trajectory optimization; Trajectory planning; twin-reinforced technique
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2023.3337602

The importance of efficient path planning (PP) cannot be overstated in the domain of robots, as it involves the utilization of intelligent algorithms to determine the optimal trajectory for robot to navigate between two given points. The main target of PP is to determine potential trajectories for robot operating in a complex environment containing various obstacles. The implementation of these movements should facilitate robot in traversing a path without encountering any collisions, starting from its initial location and reaching the intended destination. In order to address the challenges associated with robot PP, this study applies the chimp optimization algorithm (CHOA) as a local searching (LS) technique and the evolutionary programming algorithm (EPA) to enhance the potential route discovered via a collection of LSs. In order to address CHOA's tendency to converge to local minima, a new updating technique called twin-reinforced (TR) is developed. In order to assess the effectiveness of the TRCHOA, we conducted a comparative analysis with other widely used meta-heuristic algorithms that are typically employed for solving robot PP problems. Additionally, we included the conventional probabilistic roadmap method (PRM) in our evaluation. We evaluated the planning performances of these algorithms on a standardized set of benchmark problems. Our findings indicate that the TRCHOA outperforms the other algorithms in terms of its planning performance. The evaluation of planning effectiveness encompasses several key criteria, namely path length, consistency of scheduled paths, time complexity, and rate of success. The experiments conducted in this study provide evidence of the statistically significant value of the enhancements obtained through the implementation of the proposed method. The findings derived from the TRCHOA provide compelling evidence of its capacity to accurately determine the most optimal route within the specified test map.