基于粒子群算法的室内清扫机器人障碍物检测

2017 Third International Conference on Sensing, Signal Processing and Security (ICSSS) Pub Date : 2017-05-01 DOI:10.1109/SSPS.2017.8071617

S. Pavithra, P. Bhuvaneswari

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引用次数: 3

摘要

在大型工业中，机器人在多任务工作中起着至关重要的作用。清洁机器人是工业应用的一部分。以清洁为目的的路径规划是这些机器人面临的主要挑战之一，因为路径上存在的障碍物可能会对它们造成损害。因此，本研究提出了基于粒子群算法(PSO)的障碍物检测算法来确定清洁机器人的路径。考虑了一个基于网格的场景，其中包含静态和移动障碍物来确定路径。所提出的工作在MATLAB 2013b中进行了仿真。结果表明，该算法在混乱和不确定环境下均得到了验证，能够绕过障碍物。它还通过选择没有障碍物的路径来确保到达目的地。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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PSO based obstacle detection for indoor cleaning robot

In large scale industries, robot play a vital role in doing, multitask functions. Cleaning robot is a part of the industrial applications. Path planning for cleaning purpose is found to be one of the major challenges of these robots, as obstacles present in the path may cause damage to them. Hence, in this research, Particle Swarm Optimization (PSO) based obstacle detection algorithm is proposed to determine the path for cleaning robot. A grid based scenario with both static and mobile obstacles are considered to determine the path. The proposed work is simulated in MATLAB 2013b. From the results obtained it is inferred that the algorithm is validated for both cluttered and uncertainty environment, which enable to bypass the obstacles. It also ensures that the destination is attained by selecting the path without the obstacles.

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来源期刊

2017 Third International Conference on Sensing, Signal Processing and Security (ICSSS)

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