Particle Swarm Optimization Based Global Path Planning for Mobile Robots

摘要

A global path planning approach based on particle swarm optimization (PSO) is presented. The first step is to make a new map between starting-point and goal-point through coordinate system transferring. Then the PSO is introduced to get a global optimized path. This algorithm has a simple model, low complexity, rapid convergence and no restrict on the shapes of obstacles. Simulation results are provided to verify the effectiveness and practicability.