Journal of ICT Research and Applications ITB Bandung Vol. 16 No. 1 2022
Mobile Robot Path Planning Optimization Based on Integration of Firefly Algorithm and Cubic Polynomial Equation

Journal of ICT Research and Applications ITB Bandung Vol. 16 No. 1 2022
Mobile Robot Path Planning Optimization Based on Integration of Firefly Algorithm and Cubic Polynomial Equation

cubic polynomial equation; firefly algorithm; mobile robot; optimal path
planning.

Abstract. Mobile Robot is an extremely essential technology in the industrial world. Optimal path planning is essential for the navigation of mobile robots. The firefly algorithm is a very promising tool of Swarm Intelligence, which is used in various optimization areas. This study used the firefly algorithm to solve the mobile robot path-planning problem and achieve optimal trajectory planning. The objective of the proposed method is to find the free-collision-free points in the mobile robot environment and then generate the optimal path based on the firefly algorithm. It uses the A∗ algorithm to find the shortest path. The essential function of use the firefly algorithm is applied to specify the optimal control points for the corresponding shortest smooth trajectory of the mobile robot. Cubic Polynomial equation is applied to generate a smooth path from the initial point to the goal point during a specified period. The results of computer simulation demonstrate
the efficiency of the firefly algorithm in generating optimal trajectory of mobile robot in a variable degree of mobile robot environment complexity.

Sura Mazin Ali, Janan Farag Yonan, Omar Alniemi & Amjed Abbas Ahmed

DOI: 10.5614/itbj.ict.res.appl.2022.16.1.1

IRCS-ITB

01 Desember 2021

Sri Wahyuni

ISSN: 2337-5787

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Journal of ICT Research and Applications ITB Bandung Vol. 16 No. 1 2022