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.
International Journal of Artificial Intelligence and Soft Computing, 2011 Vol.2 No.4, pp.353 - 366
Received: 03 Mar 2011
Accepted: 30 Apr 2011
Published online: 31 Mar 2015 *