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Optimised path planning using Enhanced Firefly Algorithm for a mobile robot.

Mohd Nadhir Ab Wahab1, Amril Nazir2, Ashraf Khalil2

  • 1School of Computer Sciences, Universiti Sains Malaysia, Minden, Penang, Malaysia.

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|August 12, 2024
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Summary
This summary is machine-generated.

The Enhanced Firefly Algorithm (EFA) improves mobile robot path planning by optimizing collision-free routes. This new approach offers better navigation efficiency and solution discovery compared to the standard Firefly Algorithm.

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Optimization Algorithms

Background:

  • Path planning is essential for mobile robot navigation.
  • Existing algorithms like the standard Firefly Algorithm (FA) have limitations.
  • Meta-heuristic techniques are increasingly applied to complex optimization problems.

Purpose of the Study:

  • To introduce and evaluate the Enhanced Firefly Algorithm (EFA) for mobile robot path planning.
  • To address the constraints of the standard FA through algorithmic modification.
  • To assess the performance of EFA against the standard FA in terms of path quality and collision avoidance.

Main Methods:

  • Implementation of the Enhanced Firefly Algorithm (EFA) with a linear reduction in the alpha parameter.
  • Experimental validation on three distinct maps with 20 runs per map for both EFA and standard FA.
  • Evaluation metrics included collision-free path generation, path distance, convergence speed, and solution optimality.

Main Results:

  • EFA demonstrated significant improvements in finding shorter collision-free paths across all tested maps.
  • Specific improvements include a 10.270% increase for Map 1, 0.371% for Map 2, and 0.163% for Map 3 compared to standard FA.
  • EFA showed enhanced convergence and ability to discover optimal solutions.

Conclusions:

  • The Enhanced Firefly Algorithm (EFA) is effective for optimizing path planning in mobile robotics.
  • EFA offers superior performance in navigation efficiency and collision avoidance over the standard FA.
  • This research provides a promising advancement for autonomous robot navigation systems.