Optimization of the path planning for the robot depending on the hybridization of artificial potential field and the firefly algorithm.

Many research paid much attention to attain robot automation for implementation in several industrial applications. In order to improve the robot guidance, the methods of robot path planning are modified. This paper proposed the hybridization of the artificial potential field and firefly algorithm for path planning of the robot in the dynamic environment. The artificial potential field is applied to analyze the environment and provide the guiding force. The firefly algorithm is applied to select the best next movement of the robot within a specific distance. The essential function of the firefly algorithm is to select randomly potential field forces and determine the best next point. The firefly algorithm depends on the iterative update of the total potential for the environment that contains the dynamic obstacles. The collision check function is used to avoid select the point from the distance of dynamic obstacle influence. The proposed method is applied to find the robot path in the tested environment consists of moving obstacles only. The demonstrated results of applied the hybridization method represent the efficiency of the proposed method performance in finding the robot path in the dynamic environment with minimum cost and avoiding all the dynamic obstacles. And the hybridization method guarantee finds the shortest path in the case of various environments' complexity with free-collision with dynamic obstacles. [ABSTRACT FROM AUTHOR]