PSO-CF2: A new method for the path planning of a mobile robot

摘要

The PSO based-Canonical Force Field (PSO-CF <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ) method is a novel approach of mobile robot path planning with collision avoidance. The choice of CF <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> parameters is however vital to its performance. In this paper, we propose the multi-objective Particle Swarm Optimization Canonical Force Field (PSO-CF <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ) technique to search for the best combination of these parameters that minimizes the robot path length and maximizes the safe distance between the robot and the obstacles. Simulations are carried out in various environments (one obstacle, two obstacles and multi-obstacles). The results of these simulations show the feasibility of this Mobile Robot path planning approach.