Global smooth path planning for mobile robots based on continuous Bezier curve

摘要

In this paper, a new strategy combining the MDPSO (multimodal delayed particle swarm optimization) and continuous Bezier curve is developed for the global smooth path planning of mobile robots. Firstly, the preliminaries on Bezier curve and the MDPSO are briefly introduced. Secondly, the environment modeling is presented and the smooth path planning problem is mathematically formulated. Then, the new strategy is applied to devise an optimum smooth global path with continuous curvature. In the simulation experiments, the developed strategy has been verified to be able to successfully complete the challenging task of planning global smooth path, and the generated smooth path could outperform the ones in previous studies. Finally, the paper is concluded with conclusions and future works.