Soft Computing Applications in Mobile Robotics
Abstract
Chapter 5 deals with a soft computing approach that is able to avoid obstacles while moving a robot to reach a goal. The approach is based on the PSO algorithm, where each particle represents a potential solution of a new position for the robot. Once the best particle of the actual iteration is selected, the robot is moved to the position that the best particle represents. This algorithm is tested with nonholonomic and holonomic robots and proves that bio-inspired algorithms are able to solve local navigation problems in real-time.
Keywords
Path planning; Obstacle avoidance; Nonholonomic and holonomic robots
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