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Path Planning of Mobile Robot Using Adaptive Particle Swarm Optimization

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Innovations in Computational Intelligence and Computer Vision

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1424))

Abstract

This paper proposes an adaptive particle swarm optimization (APSO)-driven algorithm for robot path planning and obstacle avoidance in an unknown environment. The proposed algorithm consists of two different obstacle avoidance methodologies; considering one obstacle at a time and all obstacles in the path between the robot position to the goal position. To avoid collision, the robot determines the tangential points on the safety circle. The simulation results are presented for different environmental situations. The proposed algorithm is applied on Webots, to validate its effectivity. It works efficiently, and the mobile robot has successfully avoided the obstacles while moving toward the goal position. A comparative study between the two obstacle avoidance methodologies is presented in terms of the minimum path length to reach the goal position. The proposed algorithm is also compared with the existing algorithms, and it provides satisfactory result.

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Acknowledgements

This work is supported by Visvesvaraya Ph.D. Scheme, Digital India Corporation for the project entitled “Intelligent Networked Robotic Systems”.

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Authors and Affiliations

  1. Electrical and Electronics Engineering Department, National Institute of Technology Sikkim, Ravangla, Sikkim, India

    Himanshu, Arindam Singha, Akash Kumar & Anjan Kumar Ray

Authors
  1. Himanshu
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  2. Arindam Singha
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  3. Akash Kumar
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  4. Anjan Kumar Ray
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Corresponding author

Correspondence to Arindam Singha .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, Manipal University Jaipur, Jaipur, India

    Satyabrata Roy

  2. Department of Computer and Communication Engineering, Manipal University Jaipur, Jaipur, India

    Deepak Sinwar

  3. Department of Computer Science and Information Technology, Universiti Putra Malaysia, Selangor, Malaysia

    Thinagaran Perumal

  4. Department of Computer Engineering, Koszalin University of Technology, Koszalin, Poland

    Adam Slowik

  5. Departamento de Engenharia Mecânica Faculdade de Engenharia, Universidade do Porto, Porto, Portugal

    João Manuel R. S. Tavares

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Himanshu, Singha, A., Kumar, A., Ray, A.K. (2022). Path Planning of Mobile Robot Using Adaptive Particle Swarm Optimization. In: Roy, S., Sinwar, D., Perumal, T., Slowik, A., Tavares, J.M.R.S. (eds) Innovations in Computational Intelligence and Computer Vision . Advances in Intelligent Systems and Computing, vol 1424. Springer, Singapore. https://doi.org/10.1007/978-981-19-0475-2_31

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