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题名: The Adaptive Path Planning Research for a Shape-Shifting Robot Using Particle Swarm Optimization
作者: Liu TL(刘同林) ; Wu CD(吴成东) ; Li B(李斌) ; Liu JG(刘金国)
作者部门: 机器人学研究室
会议名称: 2009 Fifth International Conference on Natural Computation. ICNC '09
会议日期: August 14-16, 2009
会议地点: Tianjin, China
会议主办者: IEEE
会议录: 2009 Fifth International Conference on Natural Computation. ICNC '09
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2009
页码: 324-328
收录类别: EI
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8899
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘同林; 吴成东; 李斌; 刘金国 .The Adaptive Path Planning Research for a Shape-Shifting Robot Using Particle Swarm Optimization.见:IEEE .2009 Fifth International Conference on Natural Computation. ICNC '09,New York,2009,324-328
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