COMPUTATION OF THE SHORTEST DISTANCE BETWEEN TWO PARAMETRIC DEFINED OBJECTS BY PARTICLE SWARM OPTIMIZATION

The distance computation between objects is an essential component of robot motion planning and controlling the robot to avoid its surrounding obstacles. Distance is used as a measure of how far a robot is from colliding with an obstacle. In this paper a Particle Swarm Optimization algorithm (PSO) for solving the problem of the distance computation between convex objects is presented. Convergence analysis of the suggested method was done via difference equation