Title: Path planning for mobile robot with artificial endocrine system

Authors: Xiao-feng Miao; Sheng Wang

Addresses: Shaanxi Radio and TV University, Xi'an 710068, China; Shaanxi Business College, Xi'an 710119, China ' Shaanxi Radio and TV University, Xi'an 710068, China; Shaanxi Business College, Xi'an 710119, China

Abstract: In this paper, we present an artificial endocrine system-based path planning (AES-PP) algorithm for robot path planning. Different from the traditional evolutionary algorithms, hormone is firstly secreted by the endocrine cell from the start point. And then, it will diffuse to the goal point where the robot wants to go. With the diffusing of the hormone, some special marks will be signed by the target cells. Finally, the optimal path will be gotten by linking the signed marks on order. We evaluate the performance of the proposed AES-PP approach for robot path planning and the results have shown that the proposed approach is efficient in dealing with the problem with complex search space. At the same time, planning accuracy has been achieved. This is especially important for environments in which the search space is very huge.

Keywords: artificial endocrine system; AES; evolutionary computation; robot path planning; mobile robots.

DOI: 10.1504/IJMIC.2013.053545

International Journal of Modelling, Identification and Control, 2013 Vol.18 No.4, pp.387 - 394

Published online: 29 Apr 2013 *

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