Path planning approach based on flock dynamics of moving particles

被引：6

作者：

Espelosin, Jesus ^{[1
]}

Acosta, Leopoldo ^{[1
]}

Alonso, Daniel ^{[2
,3
]}

机构：

[1] Univ La Laguna, Dept Ingn Sistemas & Automat & Arquitectura & Tec, San Cristobal la Laguna 38203, Spain

[2] Univ La Laguna, Inst Univ Estudios Avanzados IUdEA, San Cristobal la Laguna 38203, Spain

[3] Univ La Laguna, Fac Fis, Dept Fis Fundamental & Expt Elect & Sistemas, San Cristobal la Laguna 38203, Spain

来源：

APPLIED SOFT COMPUTING | 2013年 / 13卷 / 04期

关键词：

Path planning; Trajectory planning; Autonomous mobile robot; Navigation Swarm behaviour; Dynamic environments; Moving obstacles;

D O I：

10.1016/j.asoc.2012.12.015

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A novel method based on the behaviour of a flock of moving particles is proposed in order to solve the path planning problem of a mobile robot in two-dimensional dynamical sceneries. The mentioned particles search free obstacles zones into the scenery using a set of collective behaviour rules. The positions of the members of the flock form the search space. A heuristic method, referred to as dynamical particle chain (DPC), is used to join the position of the robot with the target through consecutive connections among the particles of the flock. The result is a free obstacle path, which is able to adapt its structure to environmental changes. The feasibility of the proposed method and its comparison with other algorithms are also discussed and illustrated. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：2159 / 2170

页数：12

共 17 条

[1] [Anonymous], 2004, ANT COLONY OPTIMIZAT
[2] [Anonymous], 2004, Wiley InterScience electronic collection.
[3] Chen HH, 2005, PROCEEDINGS OF THE 2005 INTERNATIONAL CONFERENCE ON NEURAL NETWORKS AND BRAIN, VOLS 1-3, P788
[4] Dorigo M, 2002, HDB METAHEURISTICS, P250
[5] Dudek G., 2000, COMPUTATIONAL PRINCI, V2010
[6] Gemeinder M, 2002, SOFT COMPUTING AND INDUSTRY, P589
[7] Collective behavior in animal groups: theoretical models and empirical studies
Giardina, Irene
[J]. HFSP JOURNAL, 2008, 2 (04): : 205 - 219
[8] New Potential Functions for Multi robot path planning : SWARM or SPREAD
Kim, Sung-hwan
Lee, Gyungtae
Hong, Inpyo
Kim, Young-Joo
Kim, Daeyoung
[J]. 2010 2ND INTERNATIONAL CONFERENCE ON COMPUTER AND AUTOMATION ENGINEERING (ICCAE 2010), VOL 2, 2010, : 557 - 561
[9] Masehian E, 2007, PROC WRLD ACAD SCI E, V23, P101
[10] A Hierarchical Decoupled Approach for Multi Robot Motion Planning on Trees
Masehian, Ellips
Nejad, Azadeh H.
[J]. 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 3604 - 3609

← 1 2 →