FPGA-Based Parallel Metaheuristic PSO Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigation

This paper presents a field-programmable gate array (FPGA)-based parallel metaheuristic particle swarm optimization algorithm (PPSO) and its application to global path planning for autonomous robot navigating in structured environments with obstacles. This PPSO consists of three parallel PSOs along...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 76; no. 3-4; pp. 475 - 488
Main Author Huang, Hsu-Chih
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.12.2014
Springer Nature B.V
Subjects
Algorithms
Artificial Intelligence
Autonomous
Control
Convergence
Electrical Engineering
Engineering
Heuristic methods
Mechanical Engineering
Mechatronics
Navigation
Path planning
Robotics
Robots
Swarm intelligence
Parallel processing
SoPC
Navigation
Mobile robot
Global path planning
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ISSN0921-0296
1573-0409
DOI10.1007/s10846-013-9884-9

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Summary:This paper presents a field-programmable gate array (FPGA)-based parallel metaheuristic particle swarm optimization algorithm (PPSO) and its application to global path planning for autonomous robot navigating in structured environments with obstacles. This PPSO consists of three parallel PSOs along with a communication operator in one FPGA chip. The parallel computing architecture takes advantages of maintaining better population diversity and inhibiting premature convergence in comparison with conventional PSOs. The collision-free discontinuous path generated from the PPSO planner is then smoothed using the cubic B-spline and system-on-a-programmable-chip (SoPC) technology. Experimental results are conducted to show the merit of the proposed FPGA-based PPSO path planner and smoother for global path planning of autonomous mobile robot navigation.
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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-013-9884-9