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...

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Bibliographic Details
Published inNeural Network World Vol. 22; no. 1; pp. 67 - 83
Main Authors Raja, P., Pugazhenthi, S.
Format Journal Article
LanguageEnglish
Published Prague Institute of Information and Computer Technology 01.01.2012
Institute of Computer Science
Subjects
Algorithms
Neural networks
Robots
on-line path planning
Mobile robot
dynamic constraints and particle swarm optimization
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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