Dynamic Path Planning of Mobile Robots in Uncertain Environments Based on PSO and Receding Horizon Optimization

摘要

A new planner based on the combination of a particle swarm algorithm(PSO) and a receding horizon optimization is developed in this paper for the path planning of single mobile robot in a global uncertain environment with dynamic obstacles.The robot path is planned on-line in a series of receding spatial windows to make full use of the local environment information sensed by the robot,and the particle swarm algorithm is applied in each receding window to optimize the predicted robot path.A evaluation function suitable for uncertain environments is proposed to avoid dynamic obstacles in time.Simulation results indicate that the proposed method has many advantages including simple realization,global optimization,rapid convergence and good robustness,meeting real-time requirements of robot path planning in complex uncertain environments with dynamic obstacles.