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Mobile Robot Path Planning Optimization Based on Integration of Firefly Algorithm and Cubic Polynomial Equation

Journal of ICT Research and Applications (JICTRA) · Vol. 16 No. 1 (2022) · pp. 1–22

DOI
10.5614/itbj.ict.res.appl.2022.16.1.1
ISSN
2338-5499, 2337-5787
Published
2022-04-30
Publisher
DRI - ITB
Language
eng

Abstract

Mobile Robot is an extremely essential technology in the industrial world. Optimal path planning is essential for the navigation of mobile robots. The firefly algorithm is a very promising tool of Swarm Intelligence, which is used in various optimization areas. This study used the firefly algorithm to solve the mobile robot path-planning problem and achieve optimal trajectory planning. The objective of the proposed method is to find the free-collision-free points in the mobile robot environment and then generate the optimal path based on the firefly algorithm. It uses the A∗ algorithm to find the shortest path. The essential function of use the firefly algorithm is applied to specify the optimal control points for the corresponding shortest smooth trajectory of the mobile robot. Cubic Polynomial equation is applied to generate a smooth path from the initial point to the goal point during a specified period. The results of computer simulation demonstrate the efficiency of the firefly algorithm in generating optimal trajectory of mobile robot in a variable degree of mobile robot environment complexity.

Keywords

Collaboration network of the authors

4 authors · 6 co-authorship links · 3 across different organisations

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  • Mustansiriyah University
  • Ministry of Higher Education and Scientific Research
  • University of Mosul
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
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Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journals.itb.ac.id/index.php/jictra/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">Mobile Robot Path Planning Optimization Based on Integration of Firefly Algorithm and Cubic Polynomial Equation</dc:title>
	<dc:creator>Ali, Sura Mazin</dc:creator>
	<dc:creator>Yonan, Janan Farag</dc:creator>
	<dc:creator>Alniemi, Omar</dc:creator>
	<dc:creator>Ahmed, Amjed Abbas</dc:creator>
	<dc:subject xml:lang="en-US">cubic polynomial equation</dc:subject>
	<dc:subject xml:lang="en-US">firefly algorithm</dc:subject>
	<dc:subject xml:lang="en-US">mobile robot</dc:subject>
	<dc:subject xml:lang="en-US">optimal path planning</dc:subject>
	<dc:description xml:lang="en-US">Mobile Robot is an extremely essential technology in the industrial world. Optimal path planning is essential for the navigation of mobile robots. The firefly algorithm is a very promising tool of Swarm Intelligence, which is used in various optimization areas. This study used the firefly algorithm to solve the mobile robot path-planning problem and achieve optimal trajectory planning. The objective of the proposed method is to find the free-collision-free points in the mobile robot environment and then generate the optimal path based on the firefly algorithm. It uses the A∗ algorithm to find the shortest path. The essential function of use the firefly algorithm is applied to specify the optimal control points for the corresponding shortest smooth trajectory of the mobile robot. Cubic Polynomial equation is applied to generate a smooth path from the initial point to the goal point during a specified period. The results of computer simulation demonstrate the efficiency of the firefly algorithm in generating optimal trajectory of mobile robot in a variable degree of mobile robot environment complexity.</dc:description>
	<dc:publisher xml:lang="en-US">DRI - ITB</dc:publisher>
	<dc:date>2022-04-30</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
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	<dc:type xml:lang="en-US">Peer-reviewed Article</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journals.itb.ac.id/index.php/jictra/article/view/15793</dc:identifier>
	<dc:identifier>10.5614/itbj.ict.res.appl.2022.16.1.1</dc:identifier>
	<dc:source xml:lang="en-US">Journal of ICT Research and Applications; Vol. 16 No. 1 (2022); 1-22</dc:source>
	<dc:source>2338-5499</dc:source>
	<dc:source>2337-5787</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journals.itb.ac.id/index.php/jictra/article/view/15793/5775</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2022 Journal of ICT Research and Applications</dc:rights>
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