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Using the Bees Algorithm for wheeled mobile robot path planning in an indoor dynamic environment

This paper presents a solution to plan a path using a new form of the Bees Algorithm for a 2-Wheeled Differential Drive mobile robot. This robot is used in an indoor environment. The environment consists of static and dynamic obstacles which are represented by a continuous configuration space as an occupancy map-based. The proposed method is run in two respective stages. Firstly, the optimal path is obtained in the static environment using either the basic form or the new form of the Bees Algorithm. The initial population in the new form of the Bees Algorithm consists only of feasible paths. Secondly, this optimal path is updated online to avoid collision with dynamic obstacles. A modified form of the local search is used to avoid collision with dynamic obstacles and to maintain optimality of sub-paths. A set of benchmark maps were used to simulate and evaluate the proposed algorithm. The results obtained were compared with those of the other algorithms for different sets of continuous maps.

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