A particle swarm optimization for the motion planning of wheeled mobile robot

Abstract

The optimal control problem of the motion planning for a wheeled mobile robot (WMR) is discussed in this paper. Based on the nonholonomic constraints, the motion planning problem of the wheeled mobile robot is transformed into an optimal control problem of the nonlinear system. A particle swarm optimization (PSO) algorithm of wheeled mobile robot's motion planning is proposed by using Fourier basis and spline approximation respectively. The results of numerical simulation show that this approach is effective for the motion planning.