Optimal Path Planning for Mobile Robot Based on Improved PSO Algorithm
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.
NETL
NSTL
万方数据
维普
