Title :
Multi-robot charged system search-based optimal path planning in static environments
Author :
Precup, Radu-Emil ; Petriu, Emil M. ; Fedorovici, Lucian-Ovidiu ; Radac, Mircea-Bogdan ; Dragan, Florin
Author_Institution :
Dept. of Autom. & Appl. Inf., Politeh. Univ. of Timisoara, Timisoara, Romania
Abstract :
This paper proposes an optimal path planning approach based on Charged System Search (CSS) algorithms. The approach is applied to multiple mobile robots on holonomic wheeled platforms. Optimization problems (o.p.s) are defined for each robot to minimize the weighted sum of four objective functions whose minimization targets four path planning objectives. The CSS algorithms are mapped onto the o.p.s considering that the fitness functions are the objective functions, the search spare is the solution space, the agents (charged particles) are the mobile robots, and the population of agents is the set of mobile robots. Therefore, the optimal solutions to the o.p.s are the optimal paths. The new path planning approach is validated by experiments, and a comparison with other nature-inspired optimization-based path planning approaches is given.
Keywords :
minimisation; mobile robots; multi-robot systems; path planning; search problems; wheels; CSS algorithms; holonomic wheeled platforms; minimization targets; mobile robots; multirobot charged system search; objective functions; optimization problems; path planning; static environments; Collision avoidance; Mobile robots; Optimization; Path planning; Sociology; Statistics;
Conference_Titel :
Intelligent Control (ISIC), 2014 IEEE International Symposium on
Conference_Location :
Juan Les Pins
DOI :
10.1109/ISIC.2014.6967643