Proceedings of the 8th International Conference on Applied Engineering (ICAE 2025)

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Implementation of Particle Swarm Optimization (PSO) Based Path Planning Algorithm on Omniwheel Three-Wheel Service Robot

Authors
Ryan Satria Wijaya1, *, Achmad Alfayed1, Eko Rudiawan Jamzuri1, Anugerah Wibisana1
1Politeknik Negeri Batam, Batam, Kepulauan Riau, 29461, Indonesia
*Corresponding author. Email: ryan@polibatam.ac.id
Corresponding Author
Ryan Satria Wijaya
Available Online 29 December 2025.
DOI
10.2991/978-94-6463-982-7_35How to use a DOI?
Keywords
Path planning; PSO algorithm; omniwheel robot; autonomous navigation; optimization
Abstract

Path planning is a critical component in autonomous robotic navigation, enabling a robot to determine the most efficient route between two points while avoiding obstacles. This study presents the implementation of a Particle Swarm Optimization (PSO)-based path planning algorithm on a three-wheeled omniwheel service robot, emphasizing adaptive and efficient motion control in complex indoor environments. Unlike conventional algorithms such as A* or Dijkstra, which often struggle with computational efficiency and local minima, the proposed PSO approach dynamically explores the search space to identify globally optimal paths with smoother trajectories. Various population and iteration settings were tested to analyze performance trade-offs between path length, obstacle clearance, and computation time. The optimal configuration—50 particles and 400 iterations—achieved a minimum path length of 4.49 meters with efficient obstacle avoidance and stable convergence. These results validate PSO’s capability for generating safe and near-optimal paths in real time, demonstrating its potential for deployment in real-world service robots operating in hospitals, offices, and public facilities.

Copyright
© 2025 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the 8th International Conference on Applied Engineering (ICAE 2025)
Series
Advances in Engineering Research
Publication Date
29 December 2025
ISBN
978-94-6463-982-7
ISSN
2352-5401
DOI
10.2991/978-94-6463-982-7_35How to use a DOI?
Copyright
© 2025 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Ryan Satria Wijaya
AU  - Achmad Alfayed
AU  - Eko Rudiawan Jamzuri
AU  - Anugerah Wibisana
PY  - 2025
DA  - 2025/12/29
TI  - Implementation of Particle Swarm Optimization (PSO) Based Path Planning Algorithm on Omniwheel Three-Wheel Service Robot
BT  - Proceedings of the  8th International Conference on Applied Engineering (ICAE 2025)
PB  - Atlantis Press
SP  - 582
EP  - 596
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-982-7_35
DO  - 10.2991/978-94-6463-982-7_35
ID  - Wijaya2025
ER  -