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

Xin Chen; Yangmin Li

doi:10.1109/ICMA.2006.257474

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

76 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 language	English
Title of host publication	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages	1722-1727
Number of pages	6
Volume	2006
DOIs	https://doi.org/10.1109/ICMA.2006.257474
Publication status	Published - 1 Dec 2006
Externally published	Yes
Event	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China Duration: 25 Jun 2006 → 28 Jun 2006

Conference

Conference	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Country/Territory	China
City	Luoyang
Period	25/06/06 → 28/06/06

ASJC Scopus subject areas

Artificial Intelligence
Software
Mechanical Engineering
Control and Systems Engineering

More information

10.1109/ICMA.2006.257474

Cite this

@inproceedings{5ccb071a8bfa45339ef01a0a426ed4d6,

title = "Smooth path planning of a mobile robot using stochastic particle swarm optimization",

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.",

author = "Xin Chen and Yangmin Li",

year = "2006",

month = dec,

day = "1",

doi = "10.1109/ICMA.2006.257474",

language = "English",

isbn = "1424404665",

volume = "2006",

pages = "1722--1727",

booktitle = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",

note = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 ; Conference date: 25-06-2006 Through 28-06-2006",

}

Smooth path planning of a mobile robot using stochastic particle swarm optimization. / Chen, Xin; Li, Yangmin.
2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006. Vol. 2006 2006. p. 1722-1727 4026352.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Smooth path planning of a mobile robot using stochastic particle swarm optimization

AU - Chen, Xin

AU - Li, Yangmin

PY - 2006/12/1

Y1 - 2006/12/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/34247210094

U2 - 10.1109/ICMA.2006.257474

DO - 10.1109/ICMA.2006.257474

M3 - Conference article published in proceeding or book

SN - 1424404665

SN - 9781424404667

VL - 2006

SP - 1722

EP - 1727

BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006

Y2 - 25 June 2006 through 28 June 2006

ER -

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

Abstract

Conference

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this