Optimal Path Planning Algorithm for Swarm of Robots Using Particle Swarm Optimization Technique

Abstract

Path planning for mobile robot swarm is considered as a challenging task due to the complexity it involves. Mobile robot traveling in an unknown environment may face many challenges like the static and dynamic obstacles in the path and the other robots. The aim of the path planning is to direct the mobile robot toward a target and navigate through the environment without any prior knowledge about the environment, also to avoid the obstacles and other robots. This paper introduces particle swarm optimization (PSO) with dynamic obstacle avoidance technique for robot path planning. Our proposed systems are simulated and tested in Processing IDE, for different environments. We measured the performance of the system by measuring the time for the arrival of 90 percent robot at the target.