A particle swarm optimization for the motion planning of wheeled mobile robot

Author

Zhengxiong, Guo ; Xinsheng, Ge

Author_Institution

Sch. of Mech. & Electr. Eng., Beijing Inf. Sci. & Technol. Univ., Beijing, China

fYear

2010

Firstpage

2410

Lastpage

2414

Abstract

The optimal control problem of the motion planning for a wheeled mobile robot (WMR) is discussed in this paper. Based on the nonholonomic constraints, the motion planning problem of the wheeled mobile robot is transformed into an optimal control problem of the nonlinear system. A particle swarm optimization (PSO) algorithm of wheeled mobile robot´s motion planning is proposed by using Fourier basis and spline approximation respectively. The results of numerical simulation show that this approach is effective for the motion planning.

Keywords

Fourier analysis; approximation theory; mobile robots; motion control; optimal control; particle swarm optimisation; path planning; splines (mathematics); Fourier basis; motion planning; nonholonomic constraints; nonlinear system; numerical simulation; optimal control problem; particle swarm optimization algorithm; spline approximation; wheeled mobile robot; Approximation methods; Equations; Mathematical model; Mobile robots; Optimal control; Particle swarm optimization; Planning; PSO; motion planning; nonholonomic; optimal control; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554396

Filename

5554396