Robot Path Planning using Particle Swarm Optimization of Ferguson Splines

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

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DOI - Digital Object Identifier

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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

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Czech description

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Type

D - Article in proceedings

CEP classification

JC - Computer hardware and software

OECD FORD branch

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Project

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Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2006

Confidentiality

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

Article name in the collection

ETFA 2006 Proceedings

ISBN

978-0-7803-9758-3

ISSN

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e-ISSN

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Number of pages

7

Pages from-to

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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

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