Development of Modified Path Planning Algorithm Using Artificial Potential Field (APF) Based on PSO for Factors Optimization

摘要

Solving the path planning problem considered as one of the most important aspects in the navigation of the robot, which should involve with any optimization method to get the best path. This paper presents a mixing approach of modified robot path planning, by applying first particle swarm optimization (PSO) to find the best values of Artificial Potential Field (APF) factors in order to make an iteratively enhancement till reaching the shortest path. This path will be smoothed by spline equation. The result clearly shows the high performance and strength of this mixed approach between the PSO method and APF.