DocumentCode :
3304432
Title :
Robot Path Planning in Unknown Environments Using Particle Swarm Optimization
Author :
Lu, Li ; Gong, Dunwei
Author_Institution :
Sch. of Inf. & Electr. Eng, China Univ. of Min. & Technol., Xuzhou
Volume :
4
fYear :
2008
fDate :
18-20 Oct. 2008
Firstpage :
422
Lastpage :
426
Abstract :
We propose a method of robot path planning in unknown environments based on particle swarm optimization in this paper. We firstly transform the problem of robot path planning into a minimization one, and then define the fitness of a particle based on the positions of the target and the obstacles in the environment. The positions of globally best particle in each iterative are selected, and reached by the robot in sequence. In addition, the environment is unknown for the robot due to the limit range of its sensor. The robot processor updates its information immediately once the environment changes. The optimal path is generated with this method when the robot reaches its target. We perform some simulations in different dynamic environments, and the results show that the robot reaches its target with colliding free obstacles.
Keywords :
collision avoidance; mobile robots; particle swarm optimisation; colliding free obstacles; mobile robots; particle swarm optimization; robot path planning; robot processor; Mobile robots; Navigation; Optimization methods; Orbital robotics; Particle swarm optimization; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Vehicle dynamics; particle swarm optimization; path planning; robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Natural Computation, 2008. ICNC '08. Fourth International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-0-7695-3304-9
Type :
conf
DOI :
10.1109/ICNC.2008.923
Filename :
4667318
Link To Document :
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