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Information 2016, 7(3), 39; doi:10.3390/info7030039

A Novel Global Path Planning Method for Mobile Robots Based on Teaching-Learning-Based Optimization

1
School of Mechanical and Precision Instrumental Engineering, Xi’an University of Technology, Xi’an 710048, China
2
School of Information Engineering, Xizang Minzu University, XianYang 712082, China
*
Author to whom correspondence should be addressed.
Academic Editor: Willy Susilo
Received: 16 May 2016 / Revised: 23 June 2016 / Accepted: 1 July 2016 / Published: 7 July 2016
(This article belongs to the Section Information Applications)
View Full-Text   |   Download PDF [3056 KB, uploaded 7 July 2016]   |  

Abstract

The Teaching-Learning-Based Optimization (TLBO) algorithm has been proposed in recent years. It is a new swarm intelligence optimization algorithm simulating the teaching-learning phenomenon of a classroom. In this paper, a novel global path planning method for mobile robots is presented, which is based on an improved TLBO algorithm called Nonlinear Inertia Weighted Teaching-Learning-Based Optimization (NIWTLBO) algorithm in our previous work. Firstly, the NIWTLBO algorithm is introduced. Then, a new map model of the path between start-point and goal-point is built by coordinate system transformation. Lastly, utilizing the NIWTLBO algorithm, the objective function of the path is optimized; thus, a global optimal path is obtained. The simulation experiment results show that the proposed method has a faster convergence rate and higher accuracy in searching for the path than the basic TLBO and some other algorithms as well, and it can effectively solve the optimization problem for mobile robot global path planning. View Full-Text
Keywords: mobile robot; path planning; optimization methods; teaching-learning-based optimization (TLBO) mobile robot; path planning; optimization methods; teaching-learning-based optimization (TLBO)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Wu, Z.; Fu, W.; Xue, R.; Wang, W. A Novel Global Path Planning Method for Mobile Robots Based on Teaching-Learning-Based Optimization. Information 2016, 7, 39.

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