IAES International Journal of Robotics and Automation (IJRA)
Vol 4, No 1: March 2015

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

Ziyad Allawi (Unknown)
Turki Abdalla (Unknown)

Article Info

Publish Date
01 Mar 2015

Abstract

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.

Copyrights © 2015




Citation Download
RIS
EndNote, Reference Manager, ProCite
BibTex
Latex, Jabref
Full PDF
287.766 KB
Original Source
Download Original
Google Scholar
Check in Google Scholar
Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...