Smooth path planning of a mobile robot using stochastic particle swarm optimization

Xin Chen, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

63 Citations (Scopus)

Abstract

This paper proposes a new approach using improved particle swarm optimization (PSO) to optimize the path of a mobile robot through an environment containing static obstacles. Relative to many optimization methods that produce nonsmooth paths, the PSO method developed in this paper can generate smooth paths, which are more preferable for designing continuous control technologies to realize path following using mobile robots. To reduce computational cost of optimization, the stochastic PSO (S-PSO) with high exploration ability is developed, so that a swarm with small size can accomplish path planning. Simulation results validate the proposed algorithm in a mobile robot path planning.
Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages1722-1727
Number of pages6
Volume2006
DOIs
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China
Duration: 25 Jun 200628 Jun 2006

Conference

Conference2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
CountryChina
CityLuoyang
Period25/06/0628/06/06

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Mechanical Engineering
  • Control and Systems Engineering

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