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Path Planning in Swarm Robots Using Particle Swarm Optimisation on Potential Fields

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Executive Summary

This paper presents a novel implementation of Particle Swarm Optimization (PSO) for finding the most optimal solution to path planning problem for a swarm of robots. The swarm canvasses through the configuration space having static obstaclesby applying PSO on potential fields generated by the target. The best possible path by the momentary leaders of the group is retraced to get the solution. The designed algorithm was simulated on a specially developed simulator adhering to real time constraints and conditions faced by the mobile robots. The solutions for various configuration spaces are presented to verify the effectiveness of the algorithm.

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