PATH PLANNING FOR MOBILE ROBOT BASED ON PARTICLE SWARM OPTIMIZATION

摘要

This paper presents a novel path planning approach , in which the MAKLINK graph is built to describe the working space of the mobile robot, the Dijkstra algorithm is used to obtain the shortest path from the start point to the goal point in the graph, and the particle swarm optimization algorithm is adopted to get the best path. Simulation results show that the proposed method is effective and can meet the real-time demands of mobile robot navigation.