Obstacles Avoidance of Wheeled Mobile Robot by Using Modified Artificial Bee Colony Optimization

Abstract

This work presents the local static and movable obstacles avoidance of WMR by using modified artificial bee colony (MABC) optimization. In this work, two developed equations have been adopted to overcome the disadvantages of the ABC optimization. In the first modification, a new equation for representing the limit parameter of ABC optimization has been used to make the algorithm faster to reach the solutions. While in the second modification, a new equation has been applied to enhance the exploitation process of the algorithm. MABC optimization is used to generate an optimum short, fast and safe path followed by WMR between the start and target points with presence of static and movable with circular shapes obstacles in the environment. Three scenarios are presented in this work. In the first and second scenarios, a comparison was made between the results of the adopted MABC and the classical ABC. In the first scenario, there are six static obstacles in the environment and in the second scenario, there are two movable obstacles. While in the third scenario, there is a comparison between the results of the adopted MABC optimization with other algorithm. MATLAB software is used to run the simulation results as well as to check the validation of the adopted algorithm. The simulation results indicate that the performance of MABC is better than the performance of the other algorithms by about 5% and the WMR made a successful avoidance with minimum distance and minimum computation time and this is an indication of how well the MABC algorithm is working.