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 |
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| 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 01:13 |
| Last Modified: | 28 Mar 2022 01:17 |
| URI: | https://repository.usp.ac.fj/id/eprint/12782 |
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