ON-LINE PATH PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS
Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is establish...
Saved in:
Published in | Neural Network World Vol. 22; no. 1; pp. 67 - 83 |
---|---|
Main Authors | , |
Format | Journal Article |
Language | English |
Published |
Prague
Institute of Information and Computer Technology
01.01.2012
Institute of Computer Science |
Subjects | |
Online Access | Get full text |
Cover
Loading…
Summary: | Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Particle Swarm Optimization technique is used to optimize the velocity parameters of the robot, to arrive at the shortest collision-free trajectory, satisfying dynamic constraints. Simulation results show that the proposed algorithm is computationally efficient and effective. |
---|---|
ISSN: | 1210-0552 2336-4335 |
DOI: | 10.14311/NNW.2012.22.005 |