The Robot Path Planning Based on PSO Algorithm Integrated with PID

摘要

When developing robot path planning, it is difficult to make a balance between efficiency and practicability. Here an improved particle swarm optimization algorithm is proposed, which integrates nonlinear inertia parameter and PID control strategy to intelligentize the particles. Based on the algorithm, the convergence and steady state of the algorithm is analyzed rigorously and the convergence conditions were given. To verify the efficiency of the proposed algorithm, it is applied to a classical robot path planning problem, and the simulation results demonstrate both the efficiency and the practicability of the proposed method. The algorithm developed here provides a new way for the robot path planning.