This paper presents an algorithm for trajectory planing using potential fields and swarms with vortex behavior. This algorithm is called Vortex Swarm Path Planning Algorithm (VSPP). There are several methods for trajectory planning in robotics, the most popular is the one based on artificial potential fields. However this method has the disadvantage of local minima which can make the robot fail when reaching the destination point. The proposed algorithm here presented employs a model of active Brownian particles with vortex behavior that allows the trajectory planning evading local minima.


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    Title :

    Vortex Swarm Path Planning Algorithm




    Publication date :

    2011-11-01


    Size :

    927013 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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