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Particle swarm optimization of potential fields for obstacle avoidance
Örebro University, School of Science and Technology. (MRO Lab)
Örebro University, School of Science and Technology. (MRO Lab)
2013 (English)In: Scientific cooperations Intern. Conf. in Electrical and Electronics Engineering, 2013, 117-123 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the safe navigation of multiple nonholonomic mobile robots in shared areas. Obstacle avoidance for mobile robots is performed by artificial potential fields and special traffic rules. In addition, the behavior of mobile robots is optimized by particle swarm optimization (PSO). The control of non-holonomic vehicles is performed using the virtual leader principle together with a local linear controller.

Place, publisher, year, edition, pages
2013. 117-123 p.
Keyword [en]
Mobile robots, obstacle avoidance, potential field, particle swarm optimization
National Category
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-30907OAI: oai:DiVA.org:oru-30907DiVA: diva2:650377
Conference
Recent Advances in Robotics and Mechatronics
Available from: 2013-09-20 Created: 2013-09-20 Last updated: 2017-10-17Bibliographically approved

Open Access in DiVA

fulltext(498 kB)395 downloads
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Palm, RainerBouguerra, Abdelbaki
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf