Particle swarm optimization of potential fields for obstacle avoidance
Rainer Palm, Abdelbaki Bouguerra · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2013
This paper addresses the safe navigation of multiple nonholonomic mobile robots in shared areas. Obstacle avoidance for mobile robots is performed by artificial potential fields and special traffic rules. In addition, the behavior of mobile robots is optimized by particle swarm optimization (PSO). The control of non-holonomic vehicles is performed using the virtual leader principle together with a local linear controller.