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Erschienen in:
2007 | OriginalPaper | Buchkapitel
Autonomous Robot Path Planning Based on Swarm Intelligence and Stream Functions
verfasst von : Chengyu Hu, Xiangning Wu, Qingzhong Liang, Yongji Wang
Erschienen in: Evolvable Systems: From Biology to Hardware
Verlag: Springer Berlin Heidelberg
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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.