Collision-Free path planning for mobile robots using chaotic particle swarm optimization

Authors:
Qiang Zhao;Shaoze Yan
Affiliations:
Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, P.R. China;Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, P.R. China
Venue:
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part III
Year:
2005

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Abstract

Path planning for mobile robots is an important topic in modern robotics studies. This paper proposes a new approach to collision-free path planning problem for mobile robots using the particle swarm optimization combined with chaos iterations. The particle swarm optimization algorithm is run to get the global best particle as the candidate solution, and then local chaotic search iterations are employed to improve the solution precision. The effectiveness of the approach is demonstrated by three simulation examples.