Obstacle-avoidance path planning for soccer robots using particle swarm optimization

被引：0
|
作者：
Wang, Li [1 ]
Liu, Yushu [1 ]
Deng, Hongbin [1 ]
Xu, Yuanqing [2 ]
机构：
[1] Beijing Inst Technol, Sch Comp Sci & Technol, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Sch Chem Engn & Environm, Beijing 100081, Peoples R China
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词：
path planning; particle swarm optimization (PSO); soccer robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Optimal path planning for mobile robots plays an important role in the field of robotics. At present, there are many advanced algorithms used to solve this optimization problem. In this paper a dynamic obstacle-avoidance path planning approach for soccer robot based on particle swarm optimization is presented considering the shape of robot. The mathematical model has been build and a simple and effective coding scheme has been proposed. At the same time, a perfect fitness function has been defined. The experiments indicate the algorithm has low complexity and rapid convergence. The simulation result shows this method of path planning for robot is effectively.
引用
收藏
页码：1233 / +
页数：3
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