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A New Online Random Particles Optimization Algorithm for Mobile Robot Path Planning in Dynamic Environments
Joint Authors
Mohajer, Behrang
Kiani, Kourosh
Samiei, Ehsan
Sharifi, Mostafa
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-03-12
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
A new algorithm named random particle optimization algorithm (RPOA) for local path planning problem of mobile robots in dynamic and unknown environments is proposed.
The new algorithm inspired from bacterial foraging technique is based on particles which are randomly distributed around a robot.
These particles search the optimal path toward the target position while avoiding the moving obstacles by getting help from the robot’s sensors.
The criterion of optimal path selection relies on the particles distance to target and Gaussian cost function assign to detected obstacles.
Then, a high level decision making strategy will decide to select best mobile robot path among the proceeded particles, and finally a low level decision control provides a control signal for control of considered holonomic mobile robot.
This process is implemented without requirement to tuning algorithm or complex calculation, and furthermore, it is independent from gradient base methods such as heuristic (artificial potential field) methods.
Therefore, in this paper, the problem of local mobile path planning is free from getting stuck in local minima and is easy computed.
To evaluate the proposed algorithm, some simulations in three various scenarios are performed and results are compared by the artificial potential field.
American Psychological Association (APA)
Mohajer, Behrang& Kiani, Kourosh& Samiei, Ehsan& Sharifi, Mostafa. 2013. A New Online Random Particles Optimization Algorithm for Mobile Robot Path Planning in Dynamic Environments. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1009563
Modern Language Association (MLA)
Mohajer, Behrang…[et al.]. A New Online Random Particles Optimization Algorithm for Mobile Robot Path Planning in Dynamic Environments. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1009563
American Medical Association (AMA)
Mohajer, Behrang& Kiani, Kourosh& Samiei, Ehsan& Sharifi, Mostafa. A New Online Random Particles Optimization Algorithm for Mobile Robot Path Planning in Dynamic Environments. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1009563
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009563