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DOI: 10.14569/IJACSA.2023.0140490
PDF

Autonomous Motion Planning for a Differential Robot using Particle Swarm Optimization

Author 1: Fredy Martinez
Author 2: Angelica Rendon

International Journal of Advanced Computer Science and Applications(IJACSA), Volume 14 Issue 4, 2023.

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Abstract: In the field of robotics, particularly within the realm of service applications, one of the fundamental challenges lies in devising autonomous motion planning strategies for real-world environments. Addressing this issue necessitates the management of numerous variables, with the primary goal of enabling the robot to circumnavigate obstacles, attain its target destination in the most efficient manner, and adhere to the shortest possible route while prioritizing safety. Furthermore, the robot’s control mechanisms must exhibit stability, precision, and swift respon-siveness. Prompted by these requirements, this paper explores the utilization of Particle Swarm Optimization (PSO) in conjunction with a Proportional-Integral-Derivative (PID) controller to devise a motion planning strategy for a differential robot operating in a multifaceted real-world setting. The proposed control system is implemented using an ESP32 microcontroller, which serves as the foundation for the robot’s motion planning and execution capabilities. Through a series of simulations, the efficacy of the suggested approach is demonstrated, emphasizing its potential as a robust solution for addressing the complex challenge of autonomous motion planning in real-world environments.

Keywords: Autonomous motion planning; differential robot; ESP32 microcontroller; particle swarm optimization; PID controller; real-world environment; service robotics

Fredy Martinez and Angelica Rendon, “Autonomous Motion Planning for a Differential Robot using Particle Swarm Optimization” International Journal of Advanced Computer Science and Applications(IJACSA), 14(4), 2023. http://dx.doi.org/10.14569/IJACSA.2023.0140490

@article{Martinez2023,
title = {Autonomous Motion Planning for a Differential Robot using Particle Swarm Optimization},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2023.0140490},
url = {http://dx.doi.org/10.14569/IJACSA.2023.0140490},
year = {2023},
publisher = {The Science and Information Organization},
volume = {14},
number = {4},
author = {Fredy Martinez and Angelica Rendon}
}



Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

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