Simultaneous replanning with vectorized particle swarm optimization algorithm
Sumana Biswas, Sreenatha Gopalarao Anavatti, Matthew Garratt, Mahardhika Pratama · 2016
This paper describes path replanning techniques and obstacles avoidance for autonomous vehicles, in complex environments. The Vectorized Particle Swarm optimization (VPSO) method is used for searching for an optimal path. A simultaneous replanning concept is incorporated with path planning to avoid static and dynamic obstacles. This proposed simultaneous replanning vectorized particle swarm optimization (SRVPSO) algorithm reduces the computational time of the path planning. Numerical results show that the SRVPSO algorithm provides better replanning time in a dynamic environment.