Improved mobile robot motion planning algorithm based on differential evolution

In this paper, we present an improved differential evolution (DE) approach to optimize path planning for mobile robots. A path should have optimum length and be easy to traverse for non-holonomic robots. Therefore, the path smoothing B-spline technique is integrated with the DE approach to plan traversable paths for mobile robots. We evaluated our system’s ability to plan the path of an Aria mobile robot in both simulated and real environments. The results indicate that our approach can lead to an optimum and easily traversable path without requiring considerably more computing resources than the conventional methods. © 2021, National Taiwan University of Science and Technology. All rights reserved.