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Document Type

Original Study

Keywords

Control Engineering

Abstract

The goal of navigating a mobile robot is to find the optimal path to direct itsmovement, so path planning is the best solution to find the optimal path. Therefore, thetwo most important problems of path planning must be solved; the first is that the pathmust avoid collision with obstacles, and second it must reduce the length of the path to aminimum. This paper will discuss finding the shortest path with the optimum cost functionby using the Chaotic Particle Swarm Optimization (CPSO), and A*, compare the resultsbetween them and the proposed hybrid algorithm that combines A* and Chaotic ParticleSwarm Optimization (ACPSO) algorithms to enhance A* algorithm to find the optimalpath and velocities of the wheeled mobile robot. These algorithms are simulated byMATLAB in a fixed obstacles environment to show the effectiveness of the proposedalgorithm in terms of minimum number of an evaluation function and the shortest pathlength as well as to obtain the optimal or near optimal wheel velocities.

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