The Behavior Fusion Based on Particle Swarm Optimization Method
In dynamic path planning of multi-robot systems, to better resolve the behavior fusion problem, Particle Swarm Optimization (PSO) method was proposed to confirm the weight of each behavior and thus the fusion of the basic behavior was achieved. The basic behavior was devised through the improved behavior dynamics. The proposed arithmetic was simulated by using matlab. The simulation results show that the method may produce the smooth path for the robot and may reduce the probability caused by hard handoff between the different behaviors.
multi-robot systems dynamic path planning PSO behavior fusion behavior dynamics
Yanmin Lei Yanmin Lei
Dept. of automation Harbin engineering university Harbin, China Dept. of electronic information engineering Changchun university Changchun, China
国际会议
长春
英文
380-383
2010-08-24（万方平台首次上网日期，不代表论文的发表时间）