Abstract
In this paper, the mobile robot motion planning approach (PSO-CF2-mt: PSO-CF2 for moving targets) is improved to track a moving target following a smooth path. PSO-CF2-mt was tested previously in various static and dynamic environments and proved its capacity to track moving targets whatever the form of the target’s trajectory. The problem with PSO-CF2-mt that we want to face in this paper is the stability of the robot’s motion. It is tackled by limiting the angular velocity of the robot. The angular speed limit is PSO selected and the variance of the angular speed is added to the fitness function as a third objective. This new version of PSO-CF2-mt is called OS-CF2-mt (Optimized Stable CF2-mt). Simulation results prove the capacity of OS-CF2-mt in ensuring stable travels for mobile robots following short, secure and smooth paths when tracking moving targets whether the environment is static or dynamic and whatever the form of the target’s trajectory.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call