A Modified QPSO for Robotic Vehicle Path Planning

摘要

This paper describes the techniques used for an effective trajectory planning for mobile robots. For this purpose, it's proposed a new modified Quantum Behaved Particle Swarm Optimization algorithm. This new algorithm allows the creation of a particle swarm with a more diverse population, increasing the search scope within the space of solutions. Besides that, a technique called Straight-Line Method is also introduced in this work to efficiently reduce the number of points required for the route optimization on the vehicle navigation space. The tests and simulations presented indicate satisfactory results for the optimizations performed, and that the addressed techniques in this work can be applied to several types of autonomous vehicles.