NDLI: StRRT-based path planning with PSO-tuned parameters for RoboCup soccer

Content Provider	Springer Nature Link
Author	Sameshima, Katsumichi Naka, Kazushi Funato, Tetsuro Hosokawa, Shu
Copyright Year	2014
Abstract	Path planning in various situations is an essential ability for a useful mobile robot in the real world, and technologies facilitating this have been tested in the RoboCup soccer leagues. The main difficulty in path planning lies in the presence of (mobile) obstacles and the kinematic and computational constraints of robots. Rapidly exploring random trees (RRTs) and spatio-temporal RRTs (StRRTs) are popular algorithms for mobile robots in the small size league, one of the RoboCup’s soccer leagues. In these algorithms, paths of finite length are randomly generated in each time interval, and adequate paths among these are selected. Thus, path length and selection probability are important factors. In this paper, we propose a method to determine these parameters using particle swarm optimization. The proposed method is examined using simulations and its real-time tuning ability is verified. The automatically tuned controllers are also capable of real-time path planning through a mobile robot with limited computational ability, such as those used in RoboCup.
Starting Page	388
Ending Page	393
Page Count	6
File Format	PDF
ISSN	14335298
Journal	Artificial Life and Robotics
Volume Number	19
Issue Number	4
e-ISSN	16147456
Language	English
Publisher	Springer Japan
Publisher Date	2014-11-12
Publisher Place	Tokyo
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Path planning RRT StRRT PSO Automatic parameter tuning Artificial Intelligence (incl. Robotics) Computation by Abstract Devices Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Biochemistry, Genetics and Molecular Biology

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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