Path planning approach based on flock dynamics of moving particles

Authors:
JesúS EspelosíN;Leopoldo Acosta;Daniel Alonso
Affiliations:
Departamento de Ingeniería de Sistemas y Automática y Arquitectura y Tecnología de Computadores (ISAATC), Universidad de La Laguna, La Laguna 38203, Spain;Departamento de Ingeniería de Sistemas y Automática y Arquitectura y Tecnología de Computadores (ISAATC), Universidad de La Laguna, La Laguna 38203, Spain;Instituto Universitario de Estudios Avanzados (IUdEA), Universidad de La Laguna, La Laguna 38203, Spain and Departamento de Física Fundamental y Experimental, Electrónica y Sistemas, Fac ...
Venue:
Applied Soft Computing
Year:
2013

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Abstract

A novel method based on the behaviour of a flock of moving particles is proposed in order to solve the path planning problem of a mobile robot in two-dimensional dynamical sceneries. The mentioned particles search free obstacles zones into the scenery using a set of collective behaviour rules. The positions of the members of the flock form the search space. A heuristic method, referred to as dynamical particle chain (DPC), is used to join the position of the robot with the target through consecutive connections among the particles of the flock. The result is a free obstacle path, which is able to adapt its structure to environmental changes. The feasibility of the proposed method and its comparison with other algorithms are also discussed and illustrated.