PSO based system architecture for Path Planning of Mobile Robot in Dynamic Environment

The proposed research article illustrates the path planning of an intelligent mobile robot in unknown dynamic environment using Particle Swarm Optimization (PSO) technique. The main objective of the problem is to make the robot move from starting position to goal position while avoiding all obstacles and follow the possible shortest path. For solving the path planning problem, a new objective function is developed. By optimizing the developed objective function the global best particle is determined among the swarm. Thereby, the robot moves further towards the global best position. The robot will continuously move to these intermediate positions until it reaches the final destination. Simulation showing navigation of robots towards goal position is done with MATLAB 2013b.