AN EFFECTIVE GLOBAL PATH PLANNING ALGORITHM WITH TEACHING-LEARNING-BASED OPTIMIZATION

Nejad E. H., YİĞİT SERT S., EMRAH Ş.

Kybernetika, cilt.60, sa.3, ss.293-316, 2024 (SCI-Expanded) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 60 Sayı: 3
  • Basım Tarihi: 2024
  • Doi Numarası: 10.14736/kyb-2024-3-0293
  • Dergi Adı: Kybernetika
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Linguistic Bibliography, zbMATH
  • Sayfa Sayıları: ss.293-316
  • Anahtar Kelimeler: Bezier curve, mobile robot, path planning, teaching-learning based optimization
  • Ankara Üniversitesi Adresli: Evet

Özet

Due to the widespread use of mobile robots in various applications, the path planning problem has emerged as one of the important research topics. Path planning is defined as finding the shortest path starting from the initial point to the destination in such a way as to get rid of the obstacles it encounters. In this study, we propose a path planning algorithm based on a teaching-learning-based optimization (TLBO) algorithm with Bezier curves in a static environment with obstacles. The proposed algorithm changes the initially randomly selected control points step by step to obtain shorter Bezier curves that do not hit obstacles. We also improve the genetic algorithm-based path planning algorithm. Experimental results show that they provide better paths than other existing algorithms.