Obstacle-avoidance Path Planning for Soccer Robots Using Particle Swarm Optimization

摘要

Optimal path planning for mobile robots plays an important role in the field of robotics. At present, there are many advanced algorithms used to solve this optimization problem. In this paper a dynamic obstacle-avoidance path planning approach for soccer robot based on particle swarm optimization is presented considering the shape of robot. The mathematical model has been build and a simple and effective coding scheme has been proposed. At the same time, a perfect fitness function has been defined. The experiments indicate the algorithm has low complexity and rapid convergence. The simulation result shows this method of path planning for robot is effectively.