1. On-line path planning for mobile robots in dynamic environments
- Creator:
- Raja, P. and Pugazhenthi , S.
- Format:
- bez média and svazek
- Type:
- model:article and TEXT
- Subject:
- Mobile robot, on-line path planning, and dynamic constraints and particle swarm optimization
- Language:
- English
- Description:
- Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Particle Swarm Optimization technique is used to optimize the velocity parameters of the robot, to arrive at the shortest collision-free trajectory, satisfying dynamic constraints. Simulation results show that the proposed algorithm is computationally efficient and effective.
- Rights:
- http://creativecommons.org/publicdomain/mark/1.0/ and policy:public