Path Planning Method for Mobile Robot Based on Particle Swarm Algorithm

Abstract

A novel path planning approach based on particle swarm was presented aiming at mobile robots in structured environments.The information of environment constrains and path length was integrated in the fitness function which was computed by neural net work,the path nodes was viewed as a particle,so with the quality of optimization of hybrid particle swarm algorithm,a best path was found.Finally by computer simulation,it is proved that the algorithm is rational and can be used in mobile robot real-time navigation.