Title :
Robot navigation in simulated pedestrian areas based on swarm intelligence
Author :
Espelosín, Jesús ; Acosta, Leopoldo ; Hamilton, Alberto
Author_Institution :
Dept. de Ing. de Sist. y Autom. y Arquitectura y Tecnol. de Comput. (ISAATC), Univ. de La Laguna, La Laguna, Spain
Abstract :
In this paper we present a method that relies on swarm intelligence to confront the problem of navigating in non-structured dynamic environments. The collective behavior of a group of particles is used to find an obstacle-free path that is able to adapt its course as the structure of the environment changes. Of particular importance is the rule that governs collision avoidance in that it not only takes into account the positions of the obstacles, but also their velocities.
Keywords :
collision avoidance; mobile robots; multi-robot systems; pedestrians; collision avoidance; environment changes; non-structured dynamic environments; obstacle-free path; particles group; robot navigation; swarm intelligence-based simulated pedestrian areas; Collision avoidance; Force; Heuristic algorithms; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Control & Automation (MED), 2012 20th Mediterranean Conference on
Conference_Location :
Barcelona
Print_ISBN :
978-1-4673-2530-1
Electronic_ISBN :
978-1-4673-2529-5
DOI :
10.1109/MED.2012.6265628