A cubic spline method combing improved particle swarm optimization for robot path planning in dynamic uncertain environment

摘要

This article considers a robot path planning problem originated from a robot factory inspection scenario. In the problem, the robot is in a dynamic uncertain environment, that is, a moving target object and several static and dynamic obstacles. An inertial positioning strategy is proposed to enable the robot to predict the position of the target in advance. From this predicted position, the robot path is generated by cubic spline interpolation, and then an improved particle swarm optimization algorithm with a random positive feedback factor in velocity updating optimizes the path. The experimental results show that the proposed method can successfully avoid the obstacles and reach the target object. In addition, the inertial positioning strategy and the improvement of particle swarm optimization can effectively shorten the path of the robot.