• DocumentCode
    725752
  • Title

    Mobile robot path planning in environments cluttered with non-convex obstacles using particle swarm optimization

  • Author

    Alam, Muhammad Shahab ; Rafique, Muhammad Usman

  • Author_Institution
    Dept. of Mechatron. Eng., Air Univ., Islamabad, Pakistan
  • fYear
    2015
  • fDate
    20-22 May 2015
  • Firstpage
    32
  • Lastpage
    36
  • Abstract
    Generally workspaces of mobile robots are cluttered with obstacles of different sizes and shapes. Majority of the path planning algorithms get stuck in non-convex obstacles pertaining to local minima. Particle Swarm Optimization (PSO) is by comparison simple and readily intelligible yet a very powerful optimization technique which makes it an apt choice for path finding problems in complex environments. This paper presents a particle swarm optimization based path planning algorithm developed for finding a shortest collision-free path for a mobile robot in an environment strewed with non-convex obstacles. The proposed method uses random sampling and finds the optimal path while avoiding non-convex obstacles without exhaustive search. Detailed simulation results show the functionality and effectiveness of the proposed algorithm in different scenarios.
  • Keywords
    collision avoidance; concave programming; mobile robots; particle swarm optimisation; PSO; collision-free path; mobile robot; nonconvex obstacles; particle swarm optimization; path planning; Mobile robots; Optimization; Particle swarm optimization; Path planning; Planning; Robot kinematics; mobile robot; non-convex obstacles; particle swarm optimization; path planning;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control, Automation and Robotics (ICCAR), 2015 International Conference on
  • Conference_Location
    Singapore
  • Print_ISBN
    978-1-4673-7522-1
  • Type

    conf

  • DOI
    10.1109/ICCAR.2015.7165997
  • Filename
    7165997