PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENT USING IMPROVED BACTERIAL FORAGING ALGORITHM

Abstract

The topic of navigation is one of the focused problems in the correlation of autonomous
mobile robots. It is necessary to have a methodology to accomplish a collision path of navigation from an
initial position (state) to a target position (goal). This paper presents a new method for path planning to
determine a feasible, optimal, and safe path. Based on Bacterial Foraging algorithm, we propose an improved
algorithm for solving the one-line path planning of mobile robots by choosing the proper objective function
for the target, obstacles, and robots collision avoidance. This algorithm finds a path towards the target and
avoiding the obstacles using particles, which are randomly distributed, on a determined area around a robot.
The criterion on which it selects the best article is the distance to the target. By the proposed approach, the
next positions of each robot are designed.