A New Approach to Smooth Path Planning of Mobile Robot Based on Quartic Bezier Transition Curve and Improved PSO Algorithm

2021 ◽  
Author(s):  
Lin Xu ◽  
Maoyong Cao ◽  
Baoye Song
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Pso Algorithm ◽  
Transition Curve ◽  
New Approach ◽  
Smooth Path ◽  
Improved Pso

Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

2014 ◽  
Vol 644-650 ◽  
pp. 154-157 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
High Efficiency ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Smooth Path ◽  
Artificial Potential Field Method

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

Local Path Planning for Dual-Arm Mobile Robot Shuttling within Truss

2012 ◽  
Vol 452-453 ◽  
pp. 1220-1224
Author(s):  
Wei Guo Wu ◽  
Peng Wu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Planning Method ◽  
Planning Stage ◽  
Probabilistic Roadmaps ◽  
Local Path Planning ◽  
Smooth Path ◽  
Local Path ◽  
Two Stages ◽  
Dual Arm

A new local path planning method for dual-arm mobile robot shuttling within the truss is presented. Like the probabilistic roadmaps method, this method proceeds in two stages: preprocessing stage and path planning stage. In preprocessing stage, the workspace is divided into a set of non-overlapping cubical cells. The nodes in the free workspace are stored in a matrix. In path planning stage, three query strategies are adopted to search the path from start point to goal point. Take use of vertex query strategy, the smooth path can be acquired in a fraction of a second. The algorithm is simple, and is applicable to any static environment with convex obstacles.

scholarly journals A COMPARATIVE STUDY FOR WHEELED MOBILE ROBOT PATH PLANNING BASED ON MODIFIED INTELLIGENT ALGORITHMS

2019 ◽  
Vol 19 (1) ◽  
pp. 60-74 ◽  
Author(s):  
Muna M AL -Nayar ◽  
Khulood E Dagher ◽  
Esraa A Hadi
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimization Technique ◽  
Pso Algorithm ◽  
Wheeled Mobile Robot ◽  
Robot Path Planning ◽  
Home Schools ◽  
The Social ◽  
Being There ◽  
Robot Path

From the time being, there are even instances for application of mobile robots in our lifelike in home, schools, hospitals, etc. The goal of this paper is to plan a path and minimizing thepath lengths with obstacles avoidance for a mobile robot in static environment. In this work wedepict the issue of off-line wheeled mobile robot (WMR) path planning, which best route forwheeled mobile robot from a start point to a target at a plane environment represented by 2-Dwork space. A modified optimization technique to solve the problem of path planning problemusing particle swarm optimization (PSO) method is given. PSO is a swarm intelligence basedstochastic optimization technique which imitate the social behavior of fish schooling or birdflocking, was applied to locate the optimum route for mobile robot so as to reach a target.Simulation results, which executed using MATLAB 2014 programming language, confirmedthat the suggested algorithm outperforms the standard version of PSO algorithm with the sameenvironment conditions by providing the shortest path for mobile robot.

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