Hybrid PSO-cubic spline for autonomous robots optimal trajectory planning

Abstract

This paper presents a new version of the Particle Swarm Optimization algorithm where the particles are replaced by spline functions. The developed algorithm generates smooth motion trajectories with two times continuously differentiable curvature avoiding obstacles placed in the workspace. It can be used for autonomous robot path planning or transport problems. The spline based trajectory generation gives us continuous, smooth and optimized path trajectories. Simulation and experimental results demonstrate the effectiveness of the proposed method.