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  • Motion planning is one of the fundamental problems in mobile robotics. This problem belongs to the NP-complete problems, therefore it is popular to solve this problem using heuristic algorithms, for example using nature inspired algorithms. Typical nature-inspired motion planning solutions are based on finding smooth curves, e.g. splines, without considering the kinematic and dynamic limitations of robots. This paper presents a novel approach to the robot motion planning based on Particle Swarm Optimization (PSO). The proposed solution is represented as a sequence of control inputs taking into account the robot's motion model. This effectively allows to find a feasible trajectory. Moreover, the control inputs presented in the trajectory can be used to directly control the robot. This type of representation is sensitive to particle initialization, that's why we developed new types of initialization, which were experimentaly tested.
  • Motion planning is one of the fundamental problems in mobile robotics. This problem belongs to the NP-complete problems, therefore it is popular to solve this problem using heuristic algorithms, for example using nature inspired algorithms. Typical nature-inspired motion planning solutions are based on finding smooth curves, e.g. splines, without considering the kinematic and dynamic limitations of robots. This paper presents a novel approach to the robot motion planning based on Particle Swarm Optimization (PSO). The proposed solution is represented as a sequence of control inputs taking into account the robot's motion model. This effectively allows to find a feasible trajectory. Moreover, the control inputs presented in the trajectory can be used to directly control the robot. This type of representation is sensitive to particle initialization, that's why we developed new types of initialization, which were experimentaly tested. (en)
Title
  • Motion Planning of Robots Using Nature Inspired Algorithms
  • Motion Planning of Robots Using Nature Inspired Algorithms (en)
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  • Motion Planning of Robots Using Nature Inspired Algorithms
  • Motion Planning of Robots Using Nature Inspired Algorithms (en)
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  • RIV/68407700:21230/12:00195486!RIV13-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
  • Kožuch, Michal
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 151902
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/12:00195486
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Motion Planning; Path Planning; PSO (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [55BF4B3EEA1F]
http://linked.open...v/mistoKonaniAkce
  • Prague
http://linked.open...i/riv/mistoVydani
  • Praha
http://linked.open...i/riv/nazevZdroje
  • POSTER 2012 - 16th International Student Conference on Electrical Engineering
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Kožuch, Michal
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://purl.org/ne...btex#hasPublisher
  • České vysoké učení technické v Praze
https://schema.org/isbn
  • 978-80-01-05043-9
http://localhost/t...ganizacniJednotka
  • 21230
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