Acceleration of Path Planning Computation Based on Evolutionary Artificial Potential Field for Non-static Environments Ulises Orozco-Rosas, Kenia Picos and Oscar Montiel Abstract In this work, a mobile robot path-planning algorithm based on the evolu- tionary artificial potential field (EAPF) for non-static environments is presented. With the aim to accelerate the path planning computation, the EAPF algorithm is imple- mented employing novel parallel computing architectures. The EAPF algorithm is capable of deriving optimal potential field functions using evolutionary computation to generate accurate and efficient paths to drive a mobile robot from the start point to the goal point without colliding with obstacles in static and non-static environ- ments. The algorithm allows parallel implementation to accelerate the computation to obtain better results in a reasonable runtime. Comparative performance analysis in terms of path length and computation time is provided. The experiments were specifically designed to show the effectiveness and the efficiency of the mobile robot path-planning algorithm based on the EAPF in a sequential implementation on CPU, a parallel implementation on CPU, and a parallel implementation on GPU. Keywords Path planning · Evolutionary artificial potential field · Mobile robots · Graphics processing unit · Heterogeneous computing U. Orozco-Rosas · K. Picos CETYS Universidad, Centro de Innovación y Diseño (CEID), Av. CETYS Universidad No. 4, El Lago, 22210 Tijuana, Baja California, Mexico e-mail: ulises.orozco@cetys.mx K. Picos e-mail: kenia.picos@cetys.mx O. Montiel (B ) Instituto Politécnico Nacional, CITEDI-IPN, Av. Instituto Politécnico Nacional No. 1310, Nueva Tijuana, 22435 Tijuana, Baja California, Mexico e-mail: oross@ipn.mx © Springer Nature Switzerland AG 2020 O. Castillo et al. (eds.), Intuitionistic and Type-2 Fuzzy Logic Enhancements in Neural and Optimization Algorithms: Theory and Applications, Studies in Computational Intelligence 862, https://doi.org/10.1007/978-3-030-35445-9_22 271