Dynamic Multi-Threaded Path Planning Based on Grasshopper Optimization Algorithm

Over the past few years, computer hardware equipment has undergone a great deal of development, especially since multi-core processors were introduced, which increased the speed of performing tasks in various fields. Compared to single-core, multi-core chips can provide higher performance and efficiency. In this paper, a multi-core system is exploited to speed up path planning using the grasshopper optimization algorithm (GOA) as well as finding multiple paths supporting the mobile robot to navigate safely in a dynamic known environment. Then multiple paths can be practiced if the robot encounters a dynamic obstacle to fabricate a new obstacle-free path out of the planned paths. Diverse experiments have shown that the robot always lays hands on the path to the target even with multiple dynamic obstacles that block the way of the robot. Recalculating a path from the existing paths tremendously decreased the required time compared to re-planning the path.