PSO based obstacle detection for indoor cleaning robot

摘要

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.