Motion Planning of Robots Using Nature Inspired Algorithms

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00195486" target="_blank" >RIV/68407700:21230/12:00195486 - 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
Motion Planning of Robots Using Nature Inspired Algorithms
Original language description
Motion planning is one of the fundamental problems in mobile robotics. This problem belongs to the NP-complete problems, therefore it is popular to solve this problem using heuristic algorithms, for example using nature inspired algorithms. Typical nature-inspired motion planning solutions are based on finding smooth curves, e.g. splines, without considering the kinematic and dynamic limitations of robots. This paper presents a novel approach to the robot motion planning based on Particle Swarm Optimization (PSO). The proposed solution is represented as a sequence of control inputs taking into account the robot's motion model. This effectively allows to find a feasible trajectory. Moreover, the control inputs presented in the trajectory can be used todirectly control the robot. This type of representation is sensitive to particle initialization, that's why we developed new types of initialization, which were experimentaly tested.
Czech name
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Czech description
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Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
POSTER 2012 - 16th International Student Conference on Electrical Engineering
ISBN
978-80-01-05043-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
Czech Technical University in Prague
Place of publication
Praha
Event location
Prague
Event date
May 17, 2012
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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