A global path planning approach based on particle swarm optimization for a mobile robot

摘要

Abstract:- A new global path planning approach based on particle swarm optimization (PSO) for a mobile robot in a static environment is presented. Consider path planning as an optimization problem with constraints. The constraints are the path can not pass by the obstacles. The optimization target is the path is shortest. The obstacles in the robot’s environment are described as polygons and the vertexes of obstacles are numbered from 1 to n. The particle swarm optimization is used to get a global optimized path and the particle is defined as a set which is composed of zero or nozero numbers from 1 to n. Simulation results are provided to verify the effectiveness and practicability of this approach.