Title :
Using Particle Swarm Optimization for Robot Path Planning in Dynamic Environments with Moving Obstacles and Target
Author :
Nasrollahy, Amin Zargar ; Javadi, Hamid Haj Syeed
Author_Institution :
Comput. Eng. Dept., Islamic Azad Univ., Qazvin, Iran
Abstract :
Robot path planning in known and dynamic environments is feasible for mobile robots and its main purpose is to find a collision free path for a robot from an initial position to a goal position in an environment with obstacles. In this paper the goal position is assumed to be moving over the time. Also our environment includes moving obstacles as well as static ones. We present a new approach for path planning mobile robots using Particle Swarm Optimization in order to minimize total path planning time while avoiding the local optimums. Simulation is used to validate and illustrate the approach.
Keywords :
collision avoidance; mobile robots; particle swarm optimisation; collision free path; dynamic environment; mobile robots; moving obstacles; particle swarm optimization; path planning time; Computational modeling; Computer simulation; Electronic mail; Java; Mathematical model; Mathematics; Mobile robots; Particle swarm optimization; Path planning; Trajectory; Particle Swarm Optimization; dynamic environments; moving obstacles; moving target; optimization; robot path planning; trajectory planning;
Conference_Titel :
Computer Modeling and Simulation, 2009. EMS '09. Third UKSim European Symposium on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-5345-0
Electronic_ISBN :
978-0-7695-3886-0
DOI :
10.1109/EMS.2009.67