Autonomous PSO-DVSF 2: an optimised force field mobile robot motion planning approach for unknown dynamic environments

摘要

PSO-DVSF~(2)(Ziadi et al., 2016) is a PSO optimised mobile robot motion planning strategy based on the force field approach. PSO-DVSF~(2)has been previously developed to optimally guide the mobile robot in known dynamic environments. Autonomous PSO-DVSF~(2), the subject of this paper, is an improvement of PSO-DVSF~(2)to deal with unknown dynamic environments. In this new real-time PSO optimised mobile robot motion planning approach, the robot has to update F~(2)parameters all along the trajectory and not once in the beginning of the navigation as has been the case with the previous version. A comparison with the autonomous PSO-CF~(2)has been applied in various unknown environments (static and dynamic) using the 3D virtual Webots simulator. The robot localisation based on sensor readings with a local motion planning, and the variation of angular and linear speeds ensure the robot collision-free motion. Simulation results prove the efficiency of the autonomous PSO-DVSF~(2)to guide the robot along the shortest and safest path in complex unknown dynamic environments.