Autonomous PSO-DVSF²: an optimised force field mobile robot motion planning approach for unknown dynamic environments
by Safa Ziadi; Mohamed Njah; Mohamed Chtourou
International Journal of Automation and Control (IJAAC), Vol. 15, No. 3, 2021

Abstract: PSO-DVSF² (Ziadi et al., 2016) is a PSO optimised mobile robot motion planning strategy based on the force field approach. PSO-DVSF² has been previously developed to optimally guide the mobile robot in known dynamic environments. Autonomous PSO-DVSF², the subject of this paper, is an improvement of PSO-DVSF² to deal with unknown dynamic environments. In this new real-time PSO optimised mobile robot motion planning approach, the robot has to update F² 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-CF² 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-DVSF² to guide the robot along the shortest and safest path in complex unknown dynamic environments.

Online publication date: Wed, 12-May-2021

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