Experimental Path Planning of a Three-Wheeled Mobile Robot using Particle Swarm Optimization

Abstract

Nowadays, robots are increasingly being used in different industries. One of the most important issues regarding the use of mobile robots are their smartness in finding the desired path. This problem becomes more complicated when the robot encounters numerous obstacles in a confined environment. In this study, using image processing and improving the Particle Swarm Optimization (PSO) path planning algorithm, for a space with different kind obstacles are investigated. Finally, by using softwares such as LabViewand MATLAB, this algorithm is tested in laboratory environment and its performance will be shown.