| Issue |
ITM Web Conf.
Volume 57, 2023
Fifth International Conference on Advances in Electrical and Computer Technologies 2023 (ICAECT 2023)
|
|
|---|---|---|
| Article Number | 01003 | |
| Number of page(s) | 9 | |
| Section | Software Engineering & Information Technology | |
| DOI | https://doi.org/10.1051/itmconf/20235701003 | |
| Published online | 10 November 2023 | |
A Constraint Optimization path planning for Dynamic Environment
1 Communication Engineering Department, University of TechnologyIraq, Baghdad, Iraq
2 Electrical Engineering Department, University of TechnologyIraq, Baghdad, Iraq
3 Research and Development Department, Ministry of Science and Technology, Baghdad, Iraq
Nadia.i.Khalil@uotechnology.edu.iq
Optimal path planning is a major challenge for the operation of autonomous unmanned ground vehicles. In dynamic mobile path planning, the goal is to find a collision-free path for a robot from an initial position to a goal position in an environment with obstacles. However, in a dynamic environment, the challenge is bigger than static. In this paper, a modified ABC and an adaptive constraint PSO algorithm are proposed to deal with the dynamic environment; the algorithms were chosen to have a good balance between exploration and exploitation, with a penalty function used to have a collision-free path.
© The Authors, published by EDP Sciences, 2023
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