Path Planning in Dynamic Environment Using Particle Swarm Optimization Algorithm

Abstract

Path planning is an important guidance task that allows autonomous mobile robots and vehicles to achieve their goal or fulfill their mission. In this paper, a path planning algorithm based on Particle Swarm Optimization (PSO) is proposed. This algorithm is able to perform natural and smooth maneuvers from source to destination while ensuring the safety of the autonomous robot and its surroundings. The optimization criteria consist of collision-free path length, travel time and energy consumption. Various test scenarios are used to test the success of the proposed method to generate feasible and optimal solutions. Simulation in Unity3D is used to illustrate and validate the proposed approach. Simulation results show that the proposed approach is efficient and optimal in terms of relevant objective functions for various test scenarios.