基于改进PSO算法的移动机器人最优路径规划
Optimal Path Planning for Mobile Robot Based on Improved PSO Algorithm
党博宇 1李海燕2
作者信息
- 1. 东北大学 信息科学与工程学院,沈阳 110819
- 2. 东北大学 计算机科学与工程学院,沈阳 110819
- 折叠
摘要
针对机器人全局移动路径上出现动态障碍物,影响其安全运动问题,提出了一种随机障碍物环境下的改进粒子群(PSO)最优路径规划方法.目的是保证机器人沿全局路径移动,并能躲避随机障碍物.通过Dijkstra算法规划全局路径,并利用改进的PSO算法进行全局路径优化,获得最短运动路径;进一步,利用动态窗口方法避开随机障碍物,并使机器人返回规划的全局路径,降低重新规划路径的计算成本;仿真对比分析和实验研究结果表明,所提出的路径规划方法能保障移动机器人避开随机障碍物并在规划的全局路径上安全运动.
Abstract
This paper presents an optimal path planning method in the environment of random obstacles to solve the problem that dynamic obstacles appear on the global path of the robot and affect its safe move-ment.The purpose is to ensure that the robot can move along the global path and avoid random obstacles.The Dijkstra algorithm is used to plan the global path,and the improved particle swarm algorithm is used to optimize the global path to obtain the shortest path.Furthermore,the dynamic window algorithm is used to avoid random obstacles and make the robot return to the planned global path,so as to reduce the calculation cost of re-planning path.Simulation and experimental results show that the proposed path planning method can ensure the mobile robot to avoid random obstacles and move safely on the planned global path.
关键词
最优路径规划/改进粒子群算法/动态窗口法/随机障碍物Key words
optimal path planning/improved particle swarm optimization/dynamic window/random obstacle引用本文复制引用
基金项目
国家自然科学基金(61903261)
辽宁省自然科学基金(2022-MS-274)
出版年
2024
NETL
NSTL
维普
万方数据