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Path Planning in Swarm Robots using Particle Swarm Optimisation on Potential Fields

by Sanjay Sarma O V, Vishwanath Lohit T, Deepak Jayaraj
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 60 - Number 13
Year of Publication: 2012
Authors: Sanjay Sarma O V, Vishwanath Lohit T, Deepak Jayaraj
10.5120/9751-4317

Sanjay Sarma O V, Vishwanath Lohit T, Deepak Jayaraj . Path Planning in Swarm Robots using Particle Swarm Optimisation on Potential Fields. International Journal of Computer Applications. 60, 13 ( December 2012), 13-20. DOI=10.5120/9751-4317

@article{ 10.5120/9751-4317,
author = { Sanjay Sarma O V, Vishwanath Lohit T, Deepak Jayaraj },
title = { Path Planning in Swarm Robots using Particle Swarm Optimisation on Potential Fields },
journal = { International Journal of Computer Applications },
issue_date = { December 2012 },
volume = { 60 },
number = { 13 },
month = { December },
year = { 2012 },
issn = { 0975-8887 },
pages = { 13-20 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume60/number13/9751-4317/ },
doi = { 10.5120/9751-4317 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:06:28.092135+05:30
%A Sanjay Sarma O V
%A Vishwanath Lohit T
%A Deepak Jayaraj
%T Path Planning in Swarm Robots using Particle Swarm Optimisation on Potential Fields
%J International Journal of Computer Applications
%@ 0975-8887
%V 60
%N 13
%P 13-20
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This article presents a novelimplementation of Particle Swarm Optimisation(PSO)forfinding the most optimal solution to path planning problem for a swarm of robots. The swarm canvasses through the configuration space having static obstaclesby applying PSO on potential fields generated by the target. The best possible path by the momentary leaders of the group is retraced toget the solution. The designed algorithm was simulated on a specially developed simulator adhering to real time constraints and conditions faced by the mobile robots. The solutions for various configuration spaces are presented to verify the effectiveness of the algorithm.

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Index Terms

Computer Science
Information Sciences

Keywords

Path planning Configuration Space Particle Swarm Optimisation (PSO) Potential Fields

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