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Collision-Free Path Planning for Mobile Robots Using Chaotic Particle Swarm Optimization

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Advances in Natural Computation (ICNC 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3612))

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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.

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Author information

Authors and Affiliations

  1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, 100084, P.R. China

    Qiang Zhao & Shaoze Yan

Authors
  1. Qiang Zhao
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  2. Shaoze Yan
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Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  2. School of Software, Sun Yat-Sen University, 510275, Guangzhou, China

    Ke Chen

  3. School of Computer Engineering, Nanyang Technological University, BLK N4, 2b-39, Nanyang Avenue, 639798, Singapore

    Yew Soon Ong

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© 2005 Springer-Verlag Berlin Heidelberg

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Zhao, Q., Yan, S. (2005). Collision-Free Path Planning for Mobile Robots Using Chaotic Particle Swarm Optimization. In: Wang, L., Chen, K., Ong, Y.S. (eds) Advances in Natural Computation. ICNC 2005. Lecture Notes in Computer Science, vol 3612. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11539902_77

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  • DOI: https://doi.org/10.1007/11539902_77

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28320-1

  • Online ISBN: 978-3-540-31863-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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