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Robot Path Planning using Particle Swarm Optimization of Ferguson Splines

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F06%3A00123472" target="_blank" >RIV/68407700:21230/06:00123472 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Robot Path Planning using Particle Swarm Optimization of Ferguson Splines

  • Original language description

    Robot path planning problem is one of most important task mobile robots. This paper proposes an original approach using a path description by string of cubic splines. Such path is easy executable and natural for car-like robot. Furthermore, it is possible to ensure smooth derivation in connections of particular splines. In this case, the path planning is equivalent to optimization of parameters of splines. An evolutionary technique called Particle Swarm Optimization (PSO) was used hereunder due to its'relatively fast convergence and global search character. Various settings of PSO parameters were tested and the best setting was compared to two classical mobile robot path planning algorithms.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2006

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    ETFA 2006 Proceedings

  • ISBN

    978-0-7803-9758-3

  • ISSN

  • e-ISSN

  • Number of pages

    7

  • Pages from-to

  • Publisher name

    IEEE

  • Place of publication

    Piscataway

  • Event location

    Prague

  • Event date

    Sep 20, 2006

  • Type of event by nationality

    EUR - Evropská akce

  • UT code for WoS article