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A Fast Path Planning Algorithm for a Mobile Robot

Adamu, Patience I. and Okagbue, H. I. and Oguntunde, P.E. and Opanuga, A. A. (2018) A Fast Path Planning Algorithm for a Mobile Robot. In: World Congress on Engineering, July 4-6, 2018, London, U.K..

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The path planning problem finds a collision free path for an object from its start position to its goal position while avoiding obstacles and self-collisions. Many methods have been proposed to solve this problem but they are not optimization based. Most of the existing methods find feasible paths but the objective of this current research is to find optimal paths in respect of time, distance covered and safety of the robot. This paper introduces a novel optimization-based method that finds the shortest distance in the shortest time. It uses particle swarm optimization (PSO) algorithm as the base optimization algorithm and a customized algorithm which generates the coordinates of the search space. We experimentally show that the distance covered and the generated points are not affected by the sample size of generated points, hence, we can use a small sample size with minimum time and get optimal results, emphasizing the fact that with little time, optimal paths can be generated in any known environment.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Path Planning, Particle Swarm Optimization Algorithm. Robotics, Optimization
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics
Divisions: Faculty of Engineering, Science and Mathematics > School of Mathematics
Depositing User: Mrs Hannah Akinwumi
Date Deposited: 02 Aug 2018 10:00
Last Modified: 02 Aug 2018 10:00

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