Path planning for mobile robot based on particle swarm optimization

摘要

This paper presents a novel particle swarm optimization algorithm which can be used in the field of path planning for mobile robot. The first step to establish the MAKLINK graph with the work space model of the mobile robot, using the Dijkstra algorithm obtained the shortest path from the start point to the goal point in the graph; then the improved algorithm of particle swarm optimization is adopted to optimize this path. The algorithm is a probability search method, which is characterized by its parallel and distributed features. Simulation results show that the proposed method is effective and can meet the demands of global path planning.