scholarly journals A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots

2015 ◽  
Vol 4 (1) ◽  
pp. 31
Author(s):  
Ziyad Allawi ◽  
Turki Abdalla
Keyword(s):  
Particle Swarm Optimization ◽  
Mobile Robots ◽  
Collision Avoidance ◽  
Particle Swarm ◽  
Optimization Method ◽  
Swarm Optimization ◽  
Multiple Mobile Robots ◽  
Kinematic Constraints ◽  
Navigation Control ◽  
Simulation Results

In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulation results have shown that this method outperforms the ordinary RVO when the path is heuristically chosen.

Sistem Kontrol Optimal Fuzzy-Particle Swarm Optimization

2018 ◽  
Vol 9 (1) ◽  
pp. 1-5
Author(s):  
Fachrudin Hunaini ◽  
Imam Robandi ◽  
Nyoman Sutantra
Keyword(s):  
Fuzzy Logic ◽  
Particle Swarm Optimization ◽  
Control System ◽  
Membership Function ◽  
Fuzzy Logic Control ◽  
Particle Swarm ◽  
Optimization Method ◽  
Swarm Optimization ◽  
Motion Error ◽  
Logic Control

Fuzzy Logic Control (FLC) is a reliable control system for controlling nonlinear systems, but to obtain optimal fuzzy logic control results, optimal Membership Function parameters are needed. Therefore in this paper Particle Swarm Optimization (PSO) is used as a fast and accurate optimization method to determine Membership Function parameters. The optimal control system simulation is carried out on the automatic steering system of the vehicle model and the results obtained are the vehicle's lateral motion error can be minimized so that the movement of the vehicle can always be maintained on the expected trajectory

Study on Vehicle Logistics Routing Path Problem with Time Windows Based on Particle Swarm Optimization

2014 ◽  
Vol 687-691 ◽  
pp. 5161-5164
Author(s):  
Lian Zhou Gao
Keyword(s):  
Particle Swarm Optimization ◽  
World Economy ◽  
Time Window ◽  
Time Windows ◽  
Particle Swarm ◽  
Modern Logistics ◽  
Swarm Optimization ◽  
Logistics Industry ◽  
Search Speed ◽  
Simulation Results

As the development of world economy, how to realize the reasonable vehicle logistics routing path problem with time window constrain is the key issue in promoting the prosperity and development of modern logistics industry. Through the research of vehicle logistics routing path 's demand, particle swarm optimization with a novel particle presentation is designed to solve the problem which is improved, effective and adept to the normal vehicle logistics routing. The simulation results of example indicate that the algorithm has more search speed and stronger optimization ability.

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