Real-time optimal formation reconfiguration of multiple wheeled mobile robots based on particle swarm optimization
Mohamed A. Kamel, Xiang Yang Yu, Youmin M. Zhang · 2016
This paper investigates optimal formation reconfiguration of multiple wheeled mobile robots (WMRs). The idea is to convert the reconfiguration problem as an optimization problem, while the objective is to minimize the time to achieve the desired formation reconfiguration within the constraints of the robots' dynamics and collision avoidance. A hybrid approach of control parametrization and time discretization (CPTD) and particle swarm optimization (PSO) is proposed to solve this problem. Since PSO cannot solve the continuous control inputs, CPTD is adopted to give an approximate piecewise linearization of the control inputs to substitute the continuous control inputs while PSO is used to find the global optimum solution. Experimental results demonstrate the effectiveness of the proposed algorithm.