Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation

Zahraa  Abdulla; Nabil  Hadi

doi:10.22153/kej.2025.09.003

المؤلفون

Zahraa Abdulla Department of Mechanical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq
Nabil Hadi Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq

DOI:

https://doi.org/10.22153/kej.2025.09.003

الكلمات المفتاحية:

Bees Algorithm; Grey Wolf Optimisation; Wheeled Mobile Robot.

الملخص

تهدف هذه الدراسة إلى تنفيذ تجنب العوائق لروبوت متنقل ذاتي الحركة (WMR) باستخدام خوارزمية تحسين الذئب الرمادي (GWO) وخوارزمية مستعمرة النحل الاصطناعية (ABC) والمقارنة بينهما. أجريت الدراسة على ثلاثة سيناريوهات، كل منها مصمم لاختبار أداء الخوارزمية في ظل ظروف مختلفة، مع الأخذ في الاعتبار العوائق الدائرية الثابتة والمتحركة في البيئة المحيطة. تم استخدام خوارزمية GWO لتحديد المسار الأكثر فعالية والأقصر والأكثر أمانًا لـ WMR من نقطة البداية إلى الموقع المستهدف. أظهرت النتائج أن خوارزمية GWO تفوقت على خوارزمية ABC، مما مكن WMR من تجنب العوائق بشكل أسرع وبأقصر مسافة.

التنزيلات

تنزيل البيانات ليس متاحًا بعد.

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