Autonomous PSO-DVSF 2 in the Control of Real Mobile Robots in Unknown Environments
Safa Ziadi, Abderraouf Benali, Mohamed Njah · 2023
Autonomous$\text{PSO-DVSF}^{\text{2}}$is a PSO optimized$\mathrm{F}^{2}$based mobile robot motion planning approach that we have previously proposed to guide a robot in unknown environments. We proved the efficiency of this approach by means of simulation tests [15]. Hence in this paper, we are dealing with the experimental setup of our proposed simulations. As a first step, the approach is tested in the MobileSim virtual environment then in a second step the tests are done in experimental environments using the differential Pioneer P3-DX wheeled robot. The results of these tests proved the real efficiency of autonomous PSO-$\text{DVSF}^{\text{2}}$algorithm to reach its destination selecting the shortest and the securest trajectory whatever the environment is static or dynamic and whatever its complexity.