Open Access
A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots
Author(s) -
Ziyad T. Allawi,
Turki Y. Abdalla
Publication year - 2015
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v4i1.pp31-40
Subject(s) - mobile robot , robot , particle swarm optimization , kinematics , path (computing) , reciprocal , computer science , collision avoidance , trajectory , collision , swarm behaviour , motion planning , control theory (sociology) , algorithm , artificial intelligence , mathematical optimization , mathematics , control (management) , linguistics , philosophy , physics , computer security , classical mechanics , astronomy , programming language
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.