Loc Q. Huynh1, Ly V. Tran1, Phuc N. K. Phan1, Zhiqiu Yu2, Son V. T. Dao1,2,*
CMC-Computers, Materials & Continua, Vol.76, No.2, pp. 2281-2300, 2023, DOI:10.32604/cmc.2023.034872
Abstract Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles. In this paper, we propose a novel path planning algorithm–Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer, Particle swarm optimization (PSO), for fine-tuning and enhancement. In Phase 1, the start and goal trees are initialized at the starting and goal positions, respectively, and the intermediary tree is initialized at a random unexplored region of the search space. The… More >
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