A Novel Path Planning for Mobile Robots Using Modified Particle Swarm Optimizer

摘要

Path planning for mobile robots is an important topic in modern robotics. This paper proposes a novel approach to path planning problem for mobile robots, in which the model of the vertexes of obstacles is constructed to describe two-dimensional map of work place of the mobile robot in order to obtain a constrained path function from the start location to the goal location, and further translates the path planning problem into nonlinear constrained function minimum optimization problem, finally using modified particle swarm optimizer optimizes forcefully the function to get the satisfactory collision-free path solution. The effectiveness of the approach is demonstrated by simulation static and dynamic environment.