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.
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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
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DOI: https://doi.org/10.1007/978-3-540-74626-3_26
Publisher Name: Springer, Berlin, Heidelberg
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