Autonomous robot path planning based on swarm intelligence and stream functions

Authors:
Chengyu Hu;Xiangning Wu;Qingzhong Liang;Yongji Wang
Affiliations:
Department of Control Science and Engineering, Huazhong University of Science & Technology, Wuhan, China and School of Computer, China University of Geosciences, Wuhan, China;School of Computer, China University of Geosciences, Wuhan, China;School of Computer, China University of Geosciences, Wuhan, China;Department of Control Science and Engineering, Huazhong University of Science & Technology, Wuhan, China
Venue:
ICES'07 Proceedings of the 7th international conference on Evolvable systems: from biology to hardware
Year:
2007

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Abstract

This paper addresses a new approach to navigate mobile robot in static or dynamic surroundings based on particle swarm optimization (PSO) and stream functions (or potential flows). Stream functions, which are introduced from hydrodynamics, are employed to guide the autonomous robot to evade the obstacles. PSO is applied to generate each optimal step from initial position to the goal location; furthermore, it can solve the stagnation point problem that exists in potential flows. The simulation results demonstrate that the approach is flexible and effective.