Path Planning Based on Improved Binary Particle Swarm Optimization Algorithm

摘要

A new global path planning approach based on binary particle swarm optimization algorithm (BPSO) for a mobile robot is presented. The detailed realization of the approach is illustrated. The obstacles in the robot's environment are described as polygons and the vertexes of obstacles are numbered from 1 to n. Binary particle swarm optimization is used to plan the path. The length of the particle is the number of the vertexes. Every bit in the particle may be 1 or 0 which represents whether the vertex is in the path or not. To avoid converging too fast (the algorithm stops when the optimal path is not found), the algorithm is improved and the mutation operation is used. Simulation results are provided to verify the effectiveness and practicability of this approach.