The Adaptive Path Planning Research for a Shape-Shifting Robot Using Particle Swarm Optimization
文献类型：会议论文
| 作者 | Liu TL(刘同林); Wu CD(吴成东); Li B(李斌) ; Liu JG(刘金国)
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| 出版日期 | 2009 |
| 会议名称 | 5th International Conference on Natural Computation, ICNC 2009 |
| 会议日期 | August 14-16, 2009 |
| 会议地点 | Tianjin, China |
| 页码 | 324-328 |
| 中文摘要 | A shape-shifting robot with diverse configurations, named "AMOEBA-I" has been developed for search and rescue tasks. The accessibility of this robot to uneven environments was efficiently enlarged by changing its configurations. In this paper, for optimizing the path of the robot through an environment containing static polygonal obstacles, we present an adaptive path planning method for the AMOEBA-I, which integrates the reconfigurable ability of the robot into the particle swarm optimization (PSO). The unique accessibility of the AMOEBA-I is thus fully displayed. The modified PSO method can reduce the computational load and has certain degree of robustness on selecting dimension of particles. It can generate smooth paths by string of cubic splines. Experiment results show that the robot can change its configurations to perform the adaptive path planning corresponding to the environmental variation and current reconfigurable ability of AMOEBA-I. As a result, the path length has been reduced successfully and effectively. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Tianjin University of Technology |
| 会议录 | 5th International Conference on Natural Computation, ICNC 2009
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-0-7695-3736-8 |
| 源URL | [http://ir.sia.cn/handle/173321/8899]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu TL,Wu CD,Li B,et al. The Adaptive Path Planning Research for a Shape-Shifting Robot Using Particle Swarm Optimization[C]. 见:5th International Conference on Natural Computation, ICNC 2009. Tianjin, China. August 14-16, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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