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Mobile robot path planning based on adaptive bacterial foraging algorithm

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Abstract

The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.

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Authors and Affiliations

  1. School of Computer Science and Software, Tianjin Polytechnic University, Tianjin, 300160, China

    Xiao-dan Liang  (梁晓丹) & Ji-gang Wu  (武继刚)

  2. School of Mechanical and Engineering, Tianjin Polytechnic University, Tianjin, 300160, China

    Liang-yu Li  (李亮玉)

  3. Laboratory of Information Service and Intelligent Control, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Han-ning Chen  (陈瀚宁)

Authors
  1. Xiao-dan Liang  (梁晓丹)
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  2. Liang-yu Li  (李亮玉)
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  3. Ji-gang Wu  (武继刚)
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  4. Han-ning Chen  (陈瀚宁)
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Corresponding author

Correspondence to Xiao-dan Liang  (梁晓丹).

Additional information

Foundation item: Project(61173032) supported by the National Natural Science Foundation of China; Project(20090406) supported by the Tianjin Scientific and Technological Development Fund of Higher Education of China

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Liang, Xd., Li, Ly., Wu, Jg. et al. Mobile robot path planning based on adaptive bacterial foraging algorithm. J. Cent. South Univ. 20, 3391–3400 (2013). https://doi.org/10.1007/s11771-013-1864-5

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  • DOI: https://doi.org/10.1007/s11771-013-1864-5

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