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Autonomous Robot Path Planning Based on Swarm Intelligence and Stream Functions

  • Chengyu Hu
  • Xiangning Wu
  • Qingzhong Liang
  • Yongji Wang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4684)

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.

Keywords

Particle Swarm Optimization Mobile Robot Stream Function Path Planning Stagnation Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Chengyu Hu
    • 1
    • 2
  • Xiangning Wu
    • 2
  • Qingzhong Liang
    • 2
  • Yongji Wang
    • 1
  1. 1.Department of Control Science and Engineering, Huazhong University of Science & Technology, Wuhan, 430074China
  2. 2.School of Computer, China University of Geosciences, Wuhan, 430074China

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