Optimized Path Planning Techniques for Navigational Control of Mobile Robot Using Grass Fire Algorithm in Obstacle Environment

This article discusses the better path planning, and achieve the goal position point within the minimum distance reached for using from mobile robots. The identification of the shortest distance was carried out through the optimization techniques, using from the grassfire algorithm. The grassfire algorithm, which was based on the provided structure of different square boxes, was employed. The grid structure adopted was (6 columns x 7 rows), and 27% of the obstacles were fixed within the grid structure of the graph. The pseudo-code of the grassfire algorithm was implemented for the analysis of simulation results. This implementation was utilized to the shortest path between points. Different pathways were explored to reach point 10 from point 0, with the objective of determining the shortest distance. For the remaining grid structures of the square boxes, the distance was treated as infinity, and the distance was updated using the formula: n distance = current distance + 1. The V-REP simulation was utilized in the experimentation, employing the Khepera-III robot to navigate through various obstacles in the environment. The results of the experimental and simulation analyses demonstrated a 4.6% deviation in the start and goal position points.