PATH PLANNING FOR MOBILE ROBOT USING THE PARTICLE SWARM OPTIMIZATION WITH MUTATION OPERATOR

摘要

Abstrae Path planning is one of the most important technologies in the navigation of the mobile robot, which should meet the optimization and real-time requests. Tbis paper presents a novel approach of path planning. First the MAMINK graph is built to deseribe +e working space of the mobile roboc then the Dijkstra algorithm is used to obtain the shortest path from the start point to the goal point in the graph, hdly the partide swarm optimization algorithm is adopted to get the optimal path. Aiming at the shortcoming of the PSO algorithm, that is, easily pbmginginto the iod mi@”I, this paper pots forward an advanced PSO algorithm with the mutation operator. By adding a mutation operator to the algorithm, it can not only escape the attraction of the local minimum in the later convergence phase, hut also maintain the cbaracteristic of fast speed in the early phase. The results of the simulation demonstrate the effectiveness of the proposed method, which can meet the real-time requests of the mobile robot’s navigation.