Mobile Robot Path-Planning Using Oppositional-Based Improved Firefly Algorithm Under Cluttered Environment

  • Mohit Ranjan Panda
  • Susmita PandaEmail author
  • Rojalina Priyadarshini
  • Pradipta Das
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 109)


Path-planning is a very important primitive for the control and navigation of the autonomous mobile robots in which the robot has to find out the best path from the source to the destination. But by using traditional methods it is very tough to find out the best solution because of the involvement of complex calculations. Firefly algorithm (FA) is a path-planning algorithm which is motivated by the flashing behavior of the fireflies and is very effective in solving optimization problems. The proposed methodology gives more efficient arrangements with diminished time complexity in contrast with general FA. The improved dimensional-based methodology is utilized in which the situation of every firefly is refreshed along with various measurements. For local search it is efficient, but sometimes because of loss in diversity in the population, FA may be trapped in local optima in case of global search. So to increase the performance of the firefly algorithm, we are combining it with the oppositional-based learning approach and designed oppositional improved firefly algorithm (OIFA). In this approach along with the candidate solution, the corresponding opposite solution is also taken into consideration because the opposite solution gives a better solution many at the times. From the outcome of the simulated results, it is observed that our proposed approach is more effective than the conventional firefly algorithm.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Mohit Ranjan Panda
    • 1
  • Susmita Panda
    • 2
    Email author
  • Rojalina Priyadarshini
    • 1
  • Pradipta Das
    • 3
  1. 1.School of Computer Engineering, KIIT UniversityBhubaneswarIndia
  2. 2.Institute of Technical Education and Research, SOA Deemed to be UniversityBhubaneswarIndia
  3. 3.Veer Surendra Sai University of TechnologyBurlaIndia

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