کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
496145 862850 2013 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Path planning approach based on flock dynamics of moving particles
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزارهای علوم کامپیوتر
پیش نمایش صفحه اول مقاله
Path planning approach based on flock dynamics of moving particles
چکیده انگلیسی

A novel method based on the behaviour of a flock of moving particles is proposed in order to solve the path planning problem of a mobile robot in two-dimensional dynamical sceneries. The mentioned particles search free obstacles zones into the scenery using a set of collective behaviour rules. The positions of the members of the flock form the search space. A heuristic method, referred to as dynamical particle chain (DPC), is used to join the position of the robot with the target through consecutive connections among the particles of the flock. The result is a free obstacle path, which is able to adapt its structure to environmental changes. The feasibility of the proposed method and its comparison with other algorithms are also discussed and illustrated.

Figure optionsDownload as PowerPoint slideHighlights
► Method based on the behaviour of a flock of moving particles.
► The method faces path planning problem in poorly structured dynamical scenery.
► Obtained path is able to adapt its structure to changes on the environment.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Soft Computing - Volume 13, Issue 4, April 2013, Pages 2159–2170
نویسندگان
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