On-line path planning for mobile robots in dynamic environments

Title:

On-line path planning for mobile robots in dynamic environments

Creator:

Raja, P. and Pugazhenthi , S.

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:7f2731ba-2b47-41ef-a2d4-326a531f4424
uuid:7f2731ba-2b47-41ef-a2d4-326a531f4424
doi:10.14311/NNW.2012.22.005

Subject:

Mobile robot, on-line path planning, and dynamic constraints and particle swarm optimization

Type:

model:article and TEXT

Format:

bez média and svazek

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.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Source:

Neural network world: international journal on neural and mass-parallel computing and information systems | 2012 Volume:22 | Number:1

Harvested from:

CDK

Metadata only:

false