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A face - off - classical and heuristic - based path planning approaches

Chand, Vishal and Prasad, Avinesh and Chaudhary, Kaylash C. and Sharma, Bibhya N. and Chand, Samlesh (2021) A face - off - classical and heuristic - based path planning approaches. [Conference Proceedings]

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    Abstract

    Robot path planning is a computational problem to find a valid sequence of configurations to move a robot from an initial to a final destination. Several classical and heuristic-based methods exist that can be used to solve the problem. This paper compares the performance of a classical method based on potential field, Lyapunov-based Control Scheme, with those of the standard and stepping ahead Firefly Algorithms. The performance comparison is based on the optimal path distance and time. The results show that the stepping ahead Firefly algorithm finds a shorter path in lesser duration when compared with the Lyapunov-based method. The LbCS also inherently faces the local minima problem when the start, target, and obstacle’s center coordinates are collinear. This problem is solved using the firefly algorithm where the diversification of the fireflies helps escape local minima.

    Item Type: Conference Proceedings
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Ms Shalni Sanjana
    Date Deposited: 06 May 2021 13:13
    Last Modified: 06 May 2021 13:13
    URI: http://repository.usp.ac.fj/id/eprint/12782
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