Robot Path Planning Based On The Travelling Salesman Problem

Abstract

Against the background of "Robot Travelling China" competition, this paper introduces the idea of TSP to seek optimal motion path. Applying the knowledge of graph theory to analyze and transform the map of competition. In the paper, we introduce the Dijkstra algorithm to solve the shortest path problem, and add angle increasing function in the cost matrix to determine priorities. Finally the paper uses the discrete particle swarm algorithm to do the simulation, which achieves good experiment effect.