how to solve a navigation problem of robot in fixed obstacle environment using PSO algorithm

hi

i successfully do the programming of Particle swarm optimization algorithm for path planning of robot in static and obstacle free environment. now i want to solve same problem for dynamic containing obstacles. my environment is like as below:

hold on

rectangle('Position',[0 10 40 10],'facecolor','b')
rectangle('Position',[60 10 40 10],'facecolor','b')
rectangle('Position',[20 30 60 10],'facecolor','b')
rectangle('Position',[0 50 30 10],'facecolor','b')
rectangle('Position',[40 50 20 10],'facecolor','b')
rectangle('Position',[70 50 40 10],'facecolor','b')
rectangle('Position',[10 70 30 10],'facecolor','b')
rectangle('Position',[60 70 30 10],'facecolor','b')
rectangle('Position',[10 90 80 10],'facecolor','b')
axis([0 100 0 100])

grid

hold off

robot is initially placed at (5,5) coordinates and its goal is to reach at target (95,95). my main question is , in first iteration if value comes like (35,45) which is not in the obstacle area, however it is situated back side of the two obstacles. how it is possible to jump over these, so logically i have two objectives 1) to avoid obstacle 2) travel in the sequence manner. kindly help me. i will be highly thankful to you.

regards mudasir ahmed

[Mudasir Ahmed]

kindly help me :(

[Joseph Cheng]

Can you supply more on what your robot is controlled, how it detects obstacles, etc. Or are you looking for help on that. what have you accomplished so far since posting? Do you really want to jump over the obstacles or just navigate around it?

[Mudasir Ahmed]

dear sir thanks for precious reply :). no sir i don't want to jump over these i want to navigate a robot from start position (5,5) to its goal (95,95)smoothly without hitting to any obstacles, and also in a sequential manner. i have made path planning (navigation) of robot in static and obstacle free environment kindly see attached figure (static obstacle free response using pso). now i want to simulate the same algorithm for environment containing fixed obstacle (like walls) see attached figure (obstacle). and their desired response would be like that in attached figure (response: line drawn in paint to show the desired output). so, kindly help me how i avoid fixed obstacles and also move in a sequence manner from start to its goal as shown in figure "response"

kindly help me sir. i will be highly thankful to you.

Answer 1

[ABDELAZIZ AIT OUGUINANE]

hey please can you provide me the code PSO i have the same problem thank you