A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization

Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path...

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Bibliographic Details
Published in:Robotics and biomimetics 2017-11, Vol.4 (1), p.8-15, Article 8
Main Authors: Ayari, Asma, Bouamama, Sadok
Format: Article
Language:English
Subjects:
Behavioral Sciences
Collision avoidance
Collision dynamics
Engineering
Multiple robots
Particle swarm optimization
Robotics and Automation
Robots
Stagnation
Systems Biology
Trajectory planning
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Summary:Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.
ISSN:2197-3768
2197-3768
DOI:10.1186/s40638-017-0062-6