The application of hybrid orthogonal particle swarm optimization in robotic path planning

摘要

Since particle swarm optimization is easily to fall into local optimization in robotic path planning, we proposed a novel hybrid orthogonal particle swarm optimization method to overcome the drawback. In the proposed algorithm, the global search ability was enhanced by introducing orthogonal design operator to the basic PSO algorithm and a special method to initial particles was designed to find the feasible path. Compared with traditional algorithms, the simulation result of our method demonstrated the superiority of the enhanced algorithm.