Robot motion planning utilizing local propagation of information based on Particle Swarm and its internal parameters

A new artificial potential field method for motion planning of mobile robot is developed in this paper. As a reactive motion of robot, a feedback oriented to the contour of repulsive potential function is applied with the ordinal attractive and repulsive component. Furthermore, inspired by Particle Swarm Optimization, particles as simplified virtual robots are utilized for motion planning. Each particle searches the space and transmit information regarding local stable region to the swarm, namely, the robot and other particles. Internal parameters of the robot and particles are also introduced to adjust the propagation of information locally gained. Simulation results demonstrate the robustness of proposed method against the complexity of an environment.