Paper Info
Title
FPGA-Based Parallel Metaheuristic PSO Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigation
Abstract
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.
Year
DOI
Venue
2014
10.1007/s10846-013-9884-9
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
Global path planning,Mobile robot,Navigation,Parallel processing,SoPC
Particle swarm optimization,Motion planning,Parallel metaheuristic,Premature convergence,Field-programmable gate array,Control engineering,Real-time computing,Engineering,Mobile robot navigation,Autonomous robot,Mobile robot,Embedded system
Journal
Volume
Issue
ISSN
76
3-4
0921-0296
Citations 
PageRank 
References 
4
0.39
26
Authors
1
Name
Order
Citations
PageRank
Hsu-Chih Huang140.39