Title :
A particle swarm optimization for the motion planning of wheeled mobile robot
Author :
Zhengxiong, Guo ; Xinsheng, Ge
Author_Institution :
Sch. of Mech. & Electr. Eng., Beijing Inf. Sci. & Technol. Univ., Beijing, China
Abstract :
The optimal control problem of the motion planning for a wheeled mobile robot (WMR) is discussed in this paper. Based on the nonholonomic constraints, the motion planning problem of the wheeled mobile robot is transformed into an optimal control problem of the nonlinear system. A particle swarm optimization (PSO) algorithm of wheeled mobile robot´s motion planning is proposed by using Fourier basis and spline approximation respectively. The results of numerical simulation show that this approach is effective for the motion planning.
Keywords :
Fourier analysis; approximation theory; mobile robots; motion control; optimal control; particle swarm optimisation; path planning; splines (mathematics); Fourier basis; motion planning; nonholonomic constraints; nonlinear system; numerical simulation; optimal control problem; particle swarm optimization algorithm; spline approximation; wheeled mobile robot; Approximation methods; Equations; Mathematical model; Mobile robots; Optimal control; Particle swarm optimization; Planning; PSO; motion planning; nonholonomic; optimal control; wheeled mobile robot;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554396
