Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation
The aim of this study was to implement and compare obstacle avoidance for an autonomous wheeled mobile robot (WMR) via the grey wolf optimisation (GWO) algorithm and the artificial bee colony (ABC) algorithm. The study was conducted via three scenarios, each designed to test the performance of the...
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| Format: | Article |
| Language: | English |
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Al-Khwarizmi College of Engineering – University of Baghdad
2025-06-01
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| Series: | Al-Khawarizmi Engineering Journal |
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| Online Access: | https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/953 |
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| author | Zahraa Abdulla Nabil Hadi |
| author_facet | Zahraa Abdulla Nabil Hadi |
| author_sort | Zahraa Abdulla |
| collection | DOAJ |
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The aim of this study was to implement and compare obstacle avoidance for an autonomous wheeled mobile robot (WMR) via the grey wolf optimisation (GWO) algorithm and the artificial bee colony (ABC) algorithm. The study was conducted via three scenarios, each designed to test the performance of the algorithm under different conditions, considering fixed and moving circular obstacles in the surrounding environment. GWO was used to determine the most efficient, shortest and safest path for the WMR from the starting point to the target point. The results showed that the GWO outperformed the ABC. The GWO also enabled the WMR to avoid obstacles faster by 11.8%, 2.8% and 4.6% and with distances shorter by 1.42%, 2.2% and 1.97% for the three scenarios, respectively.
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| format | Article |
| id | doaj-art-00f1c6da74fc4a8d888035c67a41817e |
| institution | DOAJ |
| issn | 1818-1171 2312-0789 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Al-Khwarizmi College of Engineering – University of Baghdad |
| record_format | Article |
| series | Al-Khawarizmi Engineering Journal |
| spelling | doaj-art-00f1c6da74fc4a8d888035c67a41817e2025-08-20T03:07:43ZengAl-Khwarizmi College of Engineering – University of BaghdadAl-Khawarizmi Engineering Journal1818-11712312-07892025-06-0121210.22153/kej.2025.09.003Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf OptimisationZahraa Abdulla0Nabil Hadi1Department of Mechanical Engineering, College of Engineering, University of Baghdad, Baghdad, IraqDepartment of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq The aim of this study was to implement and compare obstacle avoidance for an autonomous wheeled mobile robot (WMR) via the grey wolf optimisation (GWO) algorithm and the artificial bee colony (ABC) algorithm. The study was conducted via three scenarios, each designed to test the performance of the algorithm under different conditions, considering fixed and moving circular obstacles in the surrounding environment. GWO was used to determine the most efficient, shortest and safest path for the WMR from the starting point to the target point. The results showed that the GWO outperformed the ABC. The GWO also enabled the WMR to avoid obstacles faster by 11.8%, 2.8% and 4.6% and with distances shorter by 1.42%, 2.2% and 1.97% for the three scenarios, respectively. https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/953Bees Algorithm; Grey Wolf Optimisation; Wheeled Mobile Robot. |
| spellingShingle | Zahraa Abdulla Nabil Hadi Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation Al-Khawarizmi Engineering Journal Bees Algorithm; Grey Wolf Optimisation; Wheeled Mobile Robot. |
| title | Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation |
| title_full | Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation |
| title_fullStr | Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation |
| title_full_unstemmed | Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation |
| title_short | Autonomous Path Planning and Obstacle Avoidance of a Wheeled Mobile Robot via Grey Wolf Optimisation |
| title_sort | autonomous path planning and obstacle avoidance of a wheeled mobile robot via grey wolf optimisation |
| topic | Bees Algorithm; Grey Wolf Optimisation; Wheeled Mobile Robot. |
| url | https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/953 |
| work_keys_str_mv | AT zahraaabdulla autonomouspathplanningandobstacleavoidanceofawheeledmobilerobotviagreywolfoptimisation AT nabilhadi autonomouspathplanningandobstacleavoidanceofawheeledmobilerobotviagreywolfoptimisation |