Bio-inspired methods for planning the path of mobile robots

Abstract

Problem. The issue of path planning for a mobile robot is one of the most important ones of mobile robotics. Proper path planning ensures the safety of the robot and its environment, the efficiency of the tasks carried out by a robot, saves time and energy consumption for these tasks, etc. Therefore, research is constantly conducted on the implementation of new and improving existing optimization methods for the path planning for a mobile robot. The utilization of classical optimization methods is limited by their significant drawbacks, such as computational complexity and long time for searching the optimal path. To eliminate these issues, heuristic and then metaheuristic methods have been developed. Among metaheuristic methods, bio-inspired optimization methods, which are based on evolutionary processes in nature, as well as the behaviour of living organisms, are becoming increasingly popular. Goal. This paper aims to analyse the most popular bio-inspired algorithms used for mobile robot path planning. Methodology. The paper briefly reviews the bio-inspired optimization methods that are applicable to the path planning of a mobile robot. Particular emphasis is given to swarm intelligence algorithms, in which the relatively simple behaviour of individual agents interacting with each other and with the environment allows a swarm of these agents to achieve a given goal. Results. A classification of bio-inspired optimization methods used for mobile robot path planning is proposed. Pseudocodes for swarm optimization algorithms that are most frequently applied in mobile robotics are presented. Originality. This paper is one of the first in Ukraine to offer a comprehensive overview of bio-inspired methods of optimization used for mobile robot path planning. Practical value. The implementation of the considered algorithms in mobile robot control systems will improve the efficiency of robots in performing their assigned tasks. The given pseudocodes will simplify the development of software to implement the mentioned algorithms.

Improvement of the solution search method based on the cuckoo algorithm

“…This research is a further development of researches aimed at developing method principles for increasing the efficiency of processing various types of data, which were published earlier [2,[4][5][6]21].…”

“…The work [21] analyzed the main bio-inspired algorithms, namely: ant algorithm, cuckoo algorithm, bat algorithm, etc. Their purposes are described, the main stages of their implementation, advantages and disadvantages are given.…”