نوع مقاله : مقاله پژوهشی
نویسندگان
بخش علوم کامپیوتر، دانشکده علوم ریاضی، دانشگاه یزد
چکیده
کلیدواژهها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
Path planning is one of the important parts of robotics, so studying the path of the robot is considered one of the most important subjects. The mobile robot must move from the start position to the goal position, while avoiding obstacles in an obstacle environment. The route should be optimal based on some criteria such as shortness of the path, smoothness of the path and security of the path. In this study, the main goal is to solve the path planning problem for a robot in the form of a discrete, static and known, which meet the criteria of shortest distance, path security and path smoothness. Path planning problem is a NP-complete problem and various methods and algorithms have been proposed, which include exact and meta-heuristic algorithms. Meta-heuristic algorithms can be used to solve this problem with less computational load. In this study genetic algorithm, mountain gazelle algorithm, and Slime mould algorithm are used. In implementations, in addition to the operators of the algorithms themselves, three simplification, revision and replacement operators have been used, as well as a new evaluation function has been presented and after generating the initial population of three operators node repair, line segment repair and node improvement to create paths up to feasible path has been used. The results show that these algorithms have high efficiency and also have less computational complexity to solve this problem.
کلیدواژهها [English]
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