Autonomous PSO-DVSF<SUP align="right">2</SUP>: an optimised force field mobile robot motion planning approach for unknown dynamic environments

摘要

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.