Path Planning of Mobile Robot Based on Bacterial Foraging Algorithm and Artificial Potential Field Method

Abstract

Based on the artificial potential field algorithm and bacterial foraging algorithm, research method for obstacle avoidance and path planning of the mobile robot. Firstly, analysis method of bacterial foraging three operations: trends, replication, migration, establishment of bacterial foraging algorithm process; secondly establish the bacterial foraging algorithm model; and then analyze the artificial potential field algorithm and bacterial foraging the advantage and disadvantage of the algorithm, proposed a new hybrid algorithm has the global search ability and fast convergence. Using artificial potential field and bacterial foraging method on mobile robot global path planning and then compared with the mixture algorithm, based on the simulation results, the global path planning of mobile robot Simulation results show the feasibility and effectiveness of the hybrid algorithm.