Advanced algorithms for mobile robot motion planning and tracking in structured static environments using particle swarm optimization
نویسندگان
چکیده
منابع مشابه
Advanced Algorithms for Mobile Robot Motion Planning and Tracking in Structured Static Environments Using Particle Swarm Optimization*
An approach to intelligent robot motion planning and tracking in known and static environments is presented in this paper. This complex problem is divided into several simpler problems. The first is generation of a collisionfree path from starting to destination point, which is solved using a particle swarm optimization (PSO) algorithm. The second is interpolation of the obtained collision-free...
متن کاملMobile Robot Path Planning in Static Environments using Particle Swarm Optimization
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex multi-dimensional optimization problems. This paper proposes a path planning algorithm based on particle swarm optimization for computing a shortest collision-free path...
متن کاملMobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملSmooth Path Planning for Mobile Robot Using Particle Swarm Optimization and Radial Basis Functions
One of the most important tasks to be performed by a mobile robot is to find a collision-free and smooth path to follow. Given a set of initial control points and using a Radial Basis Function (RBF), a method is proposed, in which is used the RBF’s property to approximate smooth functions to define a collision-free and short path. In this paper we formulate the training technique of an RBF as a...
متن کاملMobile Robot Navigation Using Particle Swarm Optimization and Adaptive NN
This paper presents a novel design for mobile robot using particle swarm optimization (PSO) and adaptive NN control. The adaptive NN control strategy guarantees that robot with nonholonomic constraints can follow smooth trajectories. Based on this property, a PSO algorithm for path planning is proposed. The path planning generates smooth path with low computational cost to avoid obstacles, so t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Serbian Journal of Electrical Engineering
سال: 2012
ISSN: 1451-4869,2217-7183
DOI: 10.2298/sjee1201009c