Outdoor Robot Navigation Based on Particle Swarm Optimization

  • Erasmo Gabriel Martínez Soltero
  • Carlos Lopéz-Franco
  • Alma Y. AlanisEmail author
  • Nancy Arana-Daniel
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 648)


This paper presents an approach to perform local navigation in outdoor environments using a bio-inspired algorithm. The proposed approach uses the Particle Swarm Optimization (PSO) to perform the robot navigation. The PSO particles represent a possible new position in the navigation task. The best PSO particle is chosen and is transformed into latitude and longitude values. Finally, given the desired latitude and longitude values a controller is used to move the robot from its current position and orientation to the valid and best PSO particle in each iteration until reaching the goal given in latitude and longitude.


GPS Mobile robots Outdoor navigation Particle swarm optimization 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Erasmo Gabriel Martínez Soltero
    • 1
  • Carlos Lopéz-Franco
    • 1
  • Alma Y. Alanis
    • 1
    Email author
  • Nancy Arana-Daniel
    • 1
  1. 1.Universidad de Guadalajara, Centro Universitario de Ciencias Exactas e IngenieríasGuadalajaraMexico

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