PSO-tuned F<sup>2</sup>method for multi-robot navigation

Publication Type:
Conference Proceeding
Citation:
IEEE International Conference on Intelligent Robots and Systems, 2007, pp. 3765 - 3770
Issue Date:
2007-12-01
Full metadata record
Files in This Item:
Filename Description Size
Thumbnail2007000091.pdf450.84 kB
Adobe PDF
The F2(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 F2method. 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 approach. ©2007 IEEE.
Please use this identifier to cite or link to this item: