Title: Bio-inspired algorithm for wheeled robot's navigation

Authors: Nada Kherici; Yamina Mohamed Ben Ali

Addresses: LRI (Laboratory of Computer Research), Computer Science Department, University of Badji Mokhtar, P.O. Box No. 12, El Hadjar 23200, Algeria. ' LRI (Laboratory of Computer Research), Computer Science Department, University of Badji Mokhtar, P.O. Box No. 12, El Hadjar 23200, Algeria

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.

Keywords: autonomous navigation; bio-inspired metaheuristics; evolutionary robotics; mobile robots; wheeled robots; PSO; particles swarm optimisation; artificial intelligence; displacement; robot navigation.

DOI: 10.1504/IJAISC.2011.042716

International Journal of Artificial Intelligence and Soft Computing, 2011 Vol.2 No.4, pp.353 - 366

Available online: 27 Sep 2011 *

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