학술논문
On-line path planning for mobile robots in dynamic environments
Document Type
Text
Author
Source
Neural network world: international journal on neural and mass-parallel computing and information systems | 2012 Volume:22 | Number:1
Subject
Language
English
Abstract
Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Particle Swarm Optimization technique is used to optimize the velocity parameters of the robot, to arrive at the shortest collision-free trajectory, satisfying dynamic constraints. Simulation results show that the proposed algorithm is computationally efficient and effective.