On-line path planning for mobile robots in dynamic environments

P. Raja, S. Pugazhenthi
2012 Neural Network World  
Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Particle Swarm Optimization technique is used to optimize the velocity parameters of the robot, to arrive
more » ... at the shortest collision-free trajectory, satisfying dynamic constraints. Simulation results show that the proposed algorithm is computationally efficient and effective.
doi:10.14311/nnw.2012.22.005 fatcat:ldjr4spkhbgpve3d6j3dq5onzi