Advances in Robotics & Automation

ISSN: 2168-9695

Open Access

Current Issue

Volume 9, Issue 2 (2019)

    Research Article Pages: 1 - 5

    Hybrid Gravity Gradient Inversion-PSO algorithm for Motion Planning of Mobile Robots

    Meng Wu and Lihua Yang

    DOI: 21689695 1000195

    Motion planning is a common task required to be fulfilled by robots. A novel strategy combining particle swarm optimization and gravity gradient inversion algorithm is proposed for motion planning of mobile robots. Particle Swarm Optimization (PSO) is employed to do motion planning and fitness function in PSO is built based on gravity gradient inversion algorithm. The relative distance and orientation between each particle and the center of an obstacle is calculated by gravity gradient inversion algorithm, then, a fitness function is built based on the distance and orientation. The proposed strategy is validated by the simulation and experiment results.

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