An ABC-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots †
IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING,
2015, Volume 15, Issue 2, Pages 47-57
AbstractAbstract - In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the Artificial Bee Colony Optimization (ABC) for navigation control of multiple mobile robots with kinematic constraints. RVO is used for collision avoidance between the robots, while ABC is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method is applied on 24 mobile robots facing each other. Simulation results have shown that this method outperformed the ordinary RVO when the path was arbitrarily chosen.
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