Optimal minimum energy path planning of mobile robot based on improved WOA-GA with hybrid strategy for community-centric application

Du Jiang, Dalin Zhou, Gongfa Li, Baoli Lu, Juntong Yun, Ying Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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The path planning of mobile robots is investigated to minimize energy loss in intelligent manufacturing. To achieve optimal energy consumption planning, this paper proposes a hybrid strategy that enhances the whale optimization algorithm (WOA) and the genetic algorithm (GA). The WOA-GA algorithm combines their respective advantages and effectively mitigates premature convergence exhibited by the standard traditional algorithm. To enhance the global and local search capabilities of the standard WOA, we employ adaptive weighting and a Cauchy mutation strategy. Additionally, we introduce an adaptive crossover mutation probability and an elite strategy to mitigate the detrimental effects of the genetic algorithm's evolutionary operation in the late iterations, thereby improving its performance. This paper compares the performance of the standard GA, the standard WOA-GA algorithm, and the enhanced WOA-GA algorithm. The experimental results demonstrate that the enhanced WOA-GA algorithm can achieve optimal energy-efficient path planning using the hybrid strategy. The average energy consumption of the enhanced WOA-GA algorithm can be reduced by 30%, while the maximum energy consumption can be reduced by 47%. The results confirm the effectiveness and feasibility of the proposed method in enhancing the level of green manufacturing.
Original languageEnglish
Title of host publication2023 International Conference on Machine Learning and Cybernetics (ICMLC)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9798350303780
ISBN (Print)9798350303797
Publication statusPublished - 28 Nov 2023
EventThe 22nd International Conference on Machine Learning and Cybernetics - Adelaide, Australia
Duration: 9 Jul 202311 Jul 2023

Publication series

Name2023 International Conference on Machine Learning and Cybernetics (ICMLC)
ISSN (Print)2160-133X
ISSN (Electronic)2160-1348


ConferenceThe 22nd International Conference on Machine Learning and Cybernetics
Abbreviated titleICMLC


  • mobile robot
  • path planning
  • genetic algorithm
  • whale algorithm
  • green manufacturing

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