Designing the optimal path curve based on spline functions for mobile robot using the combination of bee colony algorithm and genetic algorithm

Abstract

This research focuses on the routing algorithm for mobile robots, considering factors such as time, path length, and energy consumption. Various algorithms have been used to plan trajectory curves, including classical methods, probabilistic algorithms, and meta-heuristic algorithms. The artificial bee colony algorithm was used to generate practical path curves without collisions, which were then used to create the optimal path length. The basic model was a projection of the path curve using random initial paths. Spline interpolation was used to obtain the middle points of the path, making the path smooth. The proposed model has less time and length in all environments and better satisfies linear and rotational speed limitations, indicating potential for improvement.