NDLI: An improved PSO-based path planning algorithm for humanoid soccer playing robots

Content Provider	IEEE Xplore Digital Library
Author	Shakiba, R. Najafipour, M. Salehi, M.E.
Copyright Year	2013
Description	Author affiliation: Mechatron. Res. Lab., Islamic Azad Univ., Qazvin, Iran (Shakiba, R.; Najafipour, M.; Salehi, M.E.)
Abstract	In this paper we introduce an improvement in the path planning algorithm of the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). Ferguson splines create preliminary paths by using random generated parameters. The random parameters are then iteratively feed into the PSO for optimization and converging to optimal paths. The objective of the algorithm is to find a path between the humanoid soccer playing robot and the ball which should be as short as possible and yet satisfying the specified safety in the path in terms of the distance from the obstacles. Our proposed method make a balance between the path shortness and the safety which makes it more efficient in the specified case study for humanoid soccer playing robots and also any path planning among various obstacles in other crowded environments. Finally the experimental results show that our proposed algorithm converges in at most 60 iterations with the average accuracy of 92 % and path length overhead of $14^{\\^%},$ planning the shortest and yet safest path.
Starting Page	1
Ending Page	6
File Size	254989
Page Count	6
File Format	PDF
e-ISBN	9781467363150
DOI	10.1109/RIOS.2013.6595312
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-08
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Path Planning Particle Swarm Optimization (PSO) Path planning Vectors Safety Planning Ferguson Splines Splines (mathematics) Robots
Content Type	Text
Resource Type	Article

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