Path planning for mobile robot based on improved particle swarm optimization

摘要

A new global path planning approach based on particle swarm optimization (PSO) for a mobile robot is presented. Consider path planning as an optimization problem with constraints. The constraints are the path can not pass by the obstacles and the optimization target is the distance of 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. Simulation results prove the effectiveness and practicability of this approach.