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

Wang, D; Kwok, NM; Liu, DK; Lau, H; Dissanayake, G

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

Wang, D Kwok, NM Liu, DK

Lau, H Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2007, pp. 3765 - 3770
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Wang, D	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Lau, H	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2007, pp. 3765 - 3770	en_US
dc.identifier.isbn	1424409128	en_US
dc.identifier.isbn	9781424409129	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2602
dc.description.abstract	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 F 2 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 approach. ©2007 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2007.4398983	en_US
dc.title	PSO-tuned F<sup>2</sup> method for multi-robot navigation	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	San Diego, California, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

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 F 2 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 approach. ©2007 IEEE.

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