Path planning approach based on flock dynamics of moving particles

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.

Graphical abstractFigure optionsDownload full-size imageDownload 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.