Motion Planning of Robots Using Nature Inspired Algorithms

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Motion Planning of Robots Using Nature Inspired Algorithms

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Motion Planning of Robots Using Nature Inspired Algorithms

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2012

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

Czech Technical University in Prague

Místo vydání

Praha

Místo konání akce

Prague

Datum konání akce

17. 5. 2012

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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