Optimization of the CF2 mobile robot motion planning approach and adaptation for moving targets

This paper presents the PSO-CF 2 -mt motion planning approach that we propose for two wheeled mobile robots for tracking moving targets in known dynamic environments. The Particle Swarm Optimization Canonical Force Field (PSO-CF 2 ) is a mobile robot motion planning approach that we have previously...

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Bibliographic Details
Main Authors: Ziadi, Safa, Njah, Mohamed
Format: Conference Proceeding
Language:English
Subjects:
Dynamics
Force
Force Field (F 2 )
Mobile robot
Mobile robots
Motion planning
Moving target
optimization
Planning
PSO and dynamic environments
Simulation
Target tracking
Trajectory
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Summary:This paper presents the PSO-CF 2 -mt motion planning approach that we propose for two wheeled mobile robots for tracking moving targets in known dynamic environments. The Particle Swarm Optimization Canonical Force Field (PSO-CF 2 ) is a mobile robot motion planning approach that we have previously proposed for static and dynamic environments[9]. PSO-CF 2 -mt is an improved version of PSO-CF 2 to become capable of tracking a moving target. The basic concept of PSO-CF 2 -mt is to generate a continually changing parameterized Force Field for the robot based on the characteristics of all objects presents in the environment. The simulation results prove clearly the ability of PSO-CF2-mt to follow and reach a moving target by choosing the shortest and the most secure paths whatever the complexity of the environment and the form of the target's trajectory. A comparative study with APF (Artificial Potential Field) proves the quality of our proposed approach.
ISSN:2576-3555
DOI:10.1109/CoDIT55151.2022.9804052