The focus of the research was on solving landmark based robot path planning problems using Stepping-Ahead Firefly Algorithm (SAFA). The researchers wanted to determine which landmark selection algorithm is best in selecting landmarks as waypoints so that the convergence time and path length are minimal. Another purpose of this study was to confirm if SAFA can be combined with the equation of motion to solve the motion planning problem of a carlike robot. The experiment was designed using the Field Of View (FOV) and inRegion as landmark selection algorithms. The FOV algorithm produced the robot's minimum path distance and convergence time. Therefore, this study affirms the superiority of the FOV as a landmark selection algorithm. The study was also able to effectively utilize SAFA and the equation of motion to solve the motion planning problem of a carlike robot.
Chand, Vishal; Chaudhary, Kaylash; Sharma, Bibhya; and Prasad, Avinesh, "Landmark Aided Robot Path Planning using Stepping-Ahead Firefly Algorithm" (2022). PACIS 2022 Proceedings. 194.
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