Path Planning of Escort Robot Based on Improved Quantum Particle Swarm Optimization

摘要

The path planning working space of resident community for escort robot is a complicated NP-Hard problem in the optimization research. The novel escort robot path planning model in resident community is presented, path describing as a grid graph of mathematical model. The Improved Quantum Particle Swarm Optimization algorithm is proposed for solving path planning model. The escort robot prototype is developed for the elderly assist in the community, which is also designed to walk with global path indoor and outdoor. The experiment platform is built on the developed escort robot and test environment. And then the experiment results are implemented for verifying effective and robust Improved Quantum Particle Swarm Optimization algorithm, as well as the algorithm can solve the real optimal escort robot path.