Title :
Vortex Swarm Path Planning Algorithm
Author :
Espitia, C. Helbert Eduardo ; Sofrony, E. Jorge Ivan ; Gonzalez, P. Cesar Leonardo
Author_Institution :
Univ. Distrital Francisco Jose de Caldas, Bogota, Colombia
Abstract :
This paper presents an algorithm for trajectory planing using potential fields and swarms with vortex behavior. This algorithm is called Vortex Swarm Path Planning Algorithm (VSPP). There are several methods for trajectory planning in robotics, the most popular is the one based on artificial potential fields. However this method has the disadvantage of local minima which can make the robot fail when reaching the destination point. The proposed algorithm here presented employs a model of active Brownian particles with vortex behavior that allows the trajectory planning evading local minima.
Keywords :
artificial intelligence; mobile robots; path planning; VSPP algorithm; active Brownian particle model; artificial potential fields; local minima; robot trajectory planning; trajectory planing algorithm; vortex swarm path planning algorithm; Equations; Mathematical model; Propulsion; Robots; Stochastic processes; Trajectory; Mobile robotics; active Brownian particles; path planning; vortex swarm;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2011 IEEE
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-1-4577-1879-3
DOI :
10.1109/CERMA.2011.36
