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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Thomaz, C.E., Pacheco, M.A.C., Vellasco, M.M.B.R.: Mobile Robot Path Planning Using Genetic Algorithms. In: International Conference on Evolutionary Computation in Engineering (1999)
Balakrishnan, K., Honavar, V.: Some Experiments in evolutionary Synthesis of Robotic Neurocontrollers. In: Proceeding of the World Congress on Neural Networks, San Diego, CA, September 15-20, 1996, pp. 1035–1040 (1996)
Shi, Y.H., Eberhart, R.C.A.: Modified Particle Swarm Optimizer [A]. In: International Conference on Evolutionary Computation [C], pp. 69–73. IEEE, Anchorage (1998)
Pere: Automatic planning of manipulator movements. IEEE Transactions on Systems, Man, and Cybernetics 11(11), 681–698 (1981)
Habib, M.K., Asama, H.: Efficient method to generate collision free path for autonomous mobile robot based on new free space structuring approach. In: Proc. IEEE/RSJ IROS, pp. 563–567 (1991)
Zhaoqing, M., Zenren, Y.: Mobile robot real-time navigation and avoidance based on grids. Robot 61, 344–348 (1996)
Liu, Y.H., Arimoto, S.: Proposal of tangent graph and extended tangent graph for path planning of mobile robots. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 1, pp. 312–317 (1991)
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1), 90–98 (1986)
Geand, S.S., Cui, Y.J.: New potential function for mobile robot path planning. IEEE Transactions on Robotics and Automation 16(10), 615–619 (2000)
Koren, Y., Borenstein, J.: Potential field methods and their inherent limitations for mobile robot navigation. In: Proc. IEEE Conf. Robotics and Automation, Sacramento, CA, April 7–12, 1991, pp. 1398–1404 (1991)
Chuang, J.H., Ahuja, N.: An analytically tractable potential field model of free space and its application in obstacle avoidance. IEEE Trans. Syst., Man, Cybern. B 28, 729–736 (1998)
Zhang, R.B., Guo, B.X., Xiong, J.: Research on global path planning for robots based on ant colony algorithm. Journal of Harbin Engineering University 25(6) (December 2004)
Fei, K., Yao-nan, W.: Robot Path Planning Based on Hybrid Artificial Potential Field Genetic Algorithm. Journal of System Simulation 18(3) (March 2006)
Waydo, S., Murray, R.M.: Vehicle motion planning using stream functions. In: Proc. IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 2484–2491. IEEE Computer Society Press, Los Alamitos (2003)
Waydo, S., Murray, R.M.: Vehicle motion planning using stream functions. CDS Technical Report 2003 -001, California Institute of Technology (2003)
Ye, G.H., Wang, H., Tanaka, K.: Coordinated Motion Control of Swarms with Dynamic Connectivity in Potential Flows[DB/OL] (2005)
Qin, Y.Q., Sun, D.B., Li, N., et al.: Path Planning for mobile Robot Based on Particle Swarm Optimization [J]. Robot 26(3), 222–225 (2004)
Kennedy, J., Eberhart, R.: Particle swarm optimization. In: Proceedings of IEEE International Conference on Neural Networks, pp. 1942–1948. IEEE Computer Society Press, Los Alamitos (1995)
Nelson, H.C., Ye, Y.C.: An intelligent mobile vehicle navigator based on fuzzy logic and reinforcement learning [J]. IEEE Trans on Systems, Man and Cybernetics, Part B: Cybernetics 29(2), 314–321 (1999)
Clerc, M.: The swarm and queen: Towards a deterministic and adaptive particle swarm optimization [A]. In: Proceeding of Congress on Evolutionary Computation [C], Washington, DC (1999)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hu, C., Wu, X., Liang, Q., Wang, Y. (2007). Autonomous Robot Path Planning Based on Swarm Intelligence and Stream Functions. In: Kang, L., Liu, Y., Zeng, S. (eds) Evolvable Systems: From Biology to Hardware. ICES 2007. Lecture Notes in Computer Science, vol 4684. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74626-3_26
Download citation
DOI: https://doi.org/10.1007/978-3-540-74626-3_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74625-6
Online ISBN: 978-3-540-74626-3
eBook Packages: Computer ScienceComputer Science (R0)