Time optimal path planning based on differential evolution algorithm

摘要

This paper presented a novel method for robot path planning using the differential evolution(DE) algorithm under polar coordinate space.A single parameter vector was constructed by the polar angles and polar distance of waypoints and a refining process was adopted to remove the unnecessary points of path made by DE algorithm.Results of simulation show that this path planning method can be used to generate a path in the complex and multi-obstacle environment for the robot.