Path planning algorithm based on improved particle swarm optimization of Bezier curves

摘要

To get an optimal smooth path for a mobile robot in an obstacle environment,this paper proposed a novel path planning approach using improved particle swarm optimization with a path descript by string of Bezier curves.Described the path by string of Bezier curves,thus the path planning could be converted to some limited points location that generated Bezier curves optimization problem.Then,found out the optimal path by the cognitive factor with index change particle swarm optimization algorithm.The simulation results show that the proposed algorithm has effectively collision-free path planning and strong capability of preventing premature convergence.