Autonomous robot path planning in dynamic environment using a new optimization technique inspired by Bacterial Foraging technique

Path planning is one of the basic and interesting functions for a mobile robot. This paper explores the application of Bacterial Foraging Optimization to the problem of mobile robot navigation to determine shortest feasible path to move from any current position to target position in unknown environment with moving obstacles. It develops a new algorithm based on Bacterial Foraging Optimization (BFO) technique. This algorithm finds a path towards the target and avoiding the obstacles using particles which are randomly distributed on a circle around a robot. The criterion on which it selects the best particle is the distance to target and the Gaussian cost function of the particle. Then, a high level decision strategy is used for the selection and…