Obstacle avoidance using PSO

Author

Lopez-Franco, Carlos ; Zepeda, Joaquin ; Arana-Daniel, Nancy ; Lopez-Franco, Lilibet

Author_Institution

Comput. Sci. Dept., Univ. of Guadalajara, Guadalajara, Mexico

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

Abstract

In this paper we present an obstacle avoidance algorithm based on Particle Swarm Optimization (PSO), which is a stochastic optimization technique. The PSO algorithm was modified in order to solve the proposed problem, in our case each particle of the PSO represents a new position, during the PSO algorithm each particle is tested to see if it represents a valid position. The best PSO particle represents the new subgoal, this goal is used by a controller to move the robot from its current position to the subgoal. The algorithm is tested with different maps, that show the robot´s path avoiding obstacles and reaching the goal.

Keywords

collision avoidance; mobile robots; particle swarm optimisation; position control; PSO algorithm; PSO particle; controller; obstacle avoidance algorithm; particle swarm optimization; robot path; stochastic optimization technique; Collision avoidance; Lasers; Mobile robots; Robot kinematics; Robot sensing systems; Vectors; Mobile robot; Obstacle Avoidance; PSO; Projective Geometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4673-2170-9

Type

conf

DOI

10.1109/ICEEE.2012.6421167

Filename

6421167