Autonomous PSO-DVSF2 in the Control of Real Mobile Robots in Unknown Environments

Autonomous \text{PSO-DVSF}^{\text{2}} is a PSO optimized \mathrm{F}^{2} based mobile robot motion planning approach that we have previously proposed to guide a robot in unknown environments. We proved the efficiency of this approach by means of simulation tests [15]. Hence in this paper, we are deal...

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Bibliographic Details
Main Authors: Ziadi, Safa, Benali, Abderraouf, Njah, Mohamed
Format: Conference Proceeding
Language:English
Subjects:
autonomous PSO- text{DVSF}^{\text{2}} and unknown environments
Complexity theory
Dynamics
Heuristic algorithms
Mobile robot
Mobile robots
Optimal trajectory
Planning
Robot motion planning
Trajectory
Virtual environments
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Summary:Autonomous \text{PSO-DVSF}^{\text{2}} is a PSO optimized \mathrm{F}^{2} based mobile robot motion planning approach that we have previously proposed to guide a robot in unknown environments. We proved the efficiency of this approach by means of simulation tests [15]. Hence in this paper, we are dealing with the experimental setup of our proposed simulations. As a first step, the approach is tested in the MobileSim virtual environment then in a second step the tests are done in experimental environments using the differential Pioneer P3-DX wheeled robot. The results of these tests proved the real efficiency of autonomous PSO- \text{DVSF}^{\text{2}} algorithm to reach its destination selecting the shortest and the securest trajectory whatever the environment is static or dynamic and whatever its complexity.
ISSN:2576-3555
DOI:10.1109/CoDIT58514.2023.10284256