Bio-inspired algorithm for wheeled robot's navigation

Abstract

This paper discusses the bio-inspired algorithm of the Particle Swarm Optimisation (PSO) for a wheeled robot|s displacement. PSO was selected because its flexibility and its tempting results. An omnidirectional wheeled robot was simulated on a flat environment with two tasks: |Reach a goal| or |collect balls|. This paper checks on the performance of PSO for the displacement studied. In the first case, we discussed the variation of execution time compared to the particles| and the neighbours| number. In the second one, we studied the change in the path|s length compared to execution time depending on the particles| and balls| number.