Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization

Authors

  • Fahmizal Fahmizal Department of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, Indonesia
  • Innes Danarastri Department of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, Indonesia
  • Muhammad Arrofiq Department of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, Indonesia
  • Hari Maghfiroh Department of Electrical Engineering, Universitas Sebelas Maret, Surakarta, Indonesia
  • Henry Probo Santoso Robotic and Autonomous Systems, University of Sussex, United Kingdom
  • Pinto Anugrah School of Electrical Engineering and Computer Science, the University of Queensland, Brisbane, Australia
  • Atinkut Molla Department of Information Technology, Injibara University, Injibara, Ethiopia

DOI:

https://doi.org/10.26555/jiteki.v10i1.28513

Keywords:

Mobile robot, Path planning, Optimization, Particle swarm optimization (PSO)

Abstract

The increasing integration of mobile robots in various industries necessitates efficient navigation strategies amidst dynamic environments. Path planning plays a crucial role in guiding mobile robots from their starting points to target destinations, contributing to automation and enhancing human-robot collaboration. This study focuses on devising a tailored path-planning approach for a fleet of mobile robots to navigate through dynamic obstacles and reach designated trajectories efficiently. Leveraging particle swarm optimization (PSO), our methodology optimizes the path while considering real-time environmental changes. We present a simulation-based implementation of the algorithm, where each robot maintains position, velocity, cost, and personal best information to converge towards the global optimal solution. Different obstacles consist of circles, squares, rectangles, and triangles with various colors and five handle-points used. Our findings demonstrate that PSO achieves a global best cost of 5.1017, indicative of the most efficient path, minimizing overall distance traveled.

Downloads

Published

2024-04-17

How to Cite

[1]
F. Fahmizal, “Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization”, J. Ilm. Tek. Elektro Komput. Dan Inform, vol. 10, no. 1, pp. 166–172, Apr. 2024.

Issue

Vol. 10 No. 1 (2024): March

Section

Articles

License

Copyright (c) 2024 Fahmizal Fahmizal, Innes Danarastri, Muhammad Arrofiq, Hari Maghfiroh, Henry Probo Santoso, Pinto Anugrah, Atinkut Molla

Creative Commons License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Authors who publish with JITEKI agree to the following terms:

  1. Authors retain copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (CC BY-SA 4.0) that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
  3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work.

Lisensi Creative Commons

This work is licensed under a Creative Commons Attribution 4.0 International License