Bio-inspired algorithm for wheeled robot's navigation

Abstract

This paper discusses the bio-inspired algorithm of the Particle Swarm Optimisation (PSO) for a wheeled robot's displacement. PSO was selected because its flexibility and its tempting results. An omnidirectional wheeled robot was simulated on a flat environment with two tasks: 'Reach a goal' or 'collect balls'. This paper checks on the performance of PSO for the displacement studied. In the first case, we discussed the variation of execution time compared to the particles' and the neighbours' number. In the second one, we studied the change in the path's length compared to execution time depending on the particles' and balls' number.