Book chapter
Fuzzy Logic Augmentation of Neural and Optimization Algorithms: Theoretical Aspects and Real Applications
Fecha
2018-01Autor
Orozco Rosas, Ulises
Montiel, Oscar
Sepúlveda, Roberto
Institución
Resumen
Path planning is a fundamental task in autonomous mobile robot navigation and one of the most computationally intensive tasks. In this work, a parallel
version of the bacterial potential field (BPF) method for path planning in mobile
robots is presented. The BPF is a hybrid algorithm, which makes use of a bacterial
evolutionary algorithm (BEA) with the artificial potential field (APF) method, to
take advantage of intelligent and classical methods. The parallel bacterial potential
field (parallel-BPF) algorithm is implemented on a graphics processing unit
(GPU) to speed up the path planning computation in mobile robot navigation.
Simulation results to validate the analysis and implementation are provided; the
experiments were specially designed to show the effectiveness and the efficiency of
the parallel-BPF algorithm.