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
收藏
页码：2159 / 2170
页数：12
相关论文
共 17 条
  • [11] Using Particle Swarm Optimization for Robot Path Planning in Dynamic Environments with Moving Obstacles and Target
    Nasrollahy, Amin Zargar
    Javadi, Hamid Haj Seyyed
    [J]. 2009 THIRD UKSIM EUROPEAN SYMPOSIUM ON COMPUTER MODELING AND SIMULATION (EMS 2009), 2009, : 60 - +
  • [12] Phillips M., 2011, ROBOTICS AUTOMATIN I, V1
  • [13] Qianzhi Ma, 2009, 2009 WRI World Congress on Computer Science and Information Engineering, CSIE, P244, DOI 10.1109/CSIE.2009.124
  • [14] Path Planning for Mobile Robots in Dynamic Environments using Particle Swarm Optimization
    Raja, P.
    Pugazhenthi, S.
    [J]. 2009 INTERNATIONAL CONFERENCE ON ADVANCES IN RECENT TECHNOLOGIES IN COMMUNICATION AND COMPUTING (ARTCOM 2009), 2009, : 401 - 405
  • [15] Reynolds C.W., 1987, ACM ANN C COMP GRAPH, P25, DOI [10.1145/37402.37406, DOI 10.1145/37402.37406]
  • [16] Shi CX, 2008, IEEE ASME INT C ADV, P252, DOI 10.1109/AIM.2008.4601668
  • [17] Tarokh M., 2000, P WORLD AUTOMATION C, P1
12