PSO-tuned F2 method for multi-robot navigation

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Conference Proceeding
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3765 - 3770
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The F (Force Field) method is a novel approach for multi-robot motion planning and collision avoidance. The setting of parameters is however vital to its performance. This paper presents an approach using Particle Swarm Optimization (PSO) to properly determine the control parameters for the F2 method. The goal of the optimization is to minimize the resultant path lengths. The approach presented in this paper can be used as a tool to obtain optimal parameters for various tasks before their execution. Simulations are carried out in various environments to show the feasibility of this approac
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