Path planning method for mobile robots based on particle swarm optimization algorithm

A mobile robot, particle swarm optimization technology, applied in the computer field, can solve problems such as failure

Inactive Publication Date: 2009-12-16
SERVICE CENT OF COMMLIZATION OF RES FINDINGS HAIAN COUNTY
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Problems solved by technology

While this method can help robots avoid environme

Method used

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Embodiment Construction

[0014] Using the combination of depth-first search algorithm and particle swarm optimization algorithm, the path planning of mobile robot is carried out under unknown environment information. The aim is that the mobile robot can use the particle swarm optimization algorithm to find an effective path in the unknown complex environment.

[0015] The specific steps of the mobile robot path planning method based on the particle swarm optimization algorithm are:

[0016] Step 1: Model the environment.

[0017] The obstacle is represented by a polygon, the robot is represented by a point, the starting position of the robot is represented by a small box, and the target point is represented by a cross.

[0018] Step 2: Plan the path of the robot.

[0019] (1) Suppose the current position of the robot is S i , with S i Make a circle C for the dot, if R≤D, then the radius of C is R, if R>D, then the radius of C is D. Where R represents the radius of the sensing circle of the robot ...

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Abstract

The invention relates to a path planning method for mobile robots based on a particle swarm optimization algorithm. The prior path planning method for the mobile robots has single path selection and is easy to come to a dead end. The method comprises the concrete steps of: modeling the environment first; using a polygon to represent an obstacle; using a point to represent a robot, using a small square frame to represent the original position of the robot; and using a cross to represent a target point, wherein a starting point of the robot is marked as S, and the target point is marked as G; planning paths of the robot by utilizing the particle swarm optimization algorithm; and finally performing the deep first search on the planned paths. The method adds the deep first search into a polar coordinate particle swarm. By the method, the robot can effectively find one collision-free path in most of complex environments, and finally reach target points.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method for path planning of a mobile robot based on a particle swarm optimization algorithm. Background technique [0002] Mobile robot is an important field in intelligent control technology, and has been widely used in military, industrial, agricultural and educational fields. Path planning is an important part of the mobile robot system, which directly affects the quality of the robot's task completion. Particle Swarm Optimization (PSO), first proposed by Kennedy and Eberhart, is an intelligent evolutionary algorithm. It is a new attempt to use Particle Swarm Optimization (PSO) in path planning. The walking path of the robot can be smoothed by the improved particle swarm optimization algorithm. The obstacle avoidance parameters are added to the fitness value function of the particle swarm optimization algorithm (PARTICLE SWARM OPTIMIZATION, PSO), so that the robot can a...

Claims

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Application Information

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IPC IPC(8): G05D1/00G05B13/00
Inventor 吴国华王玉娟方美娥张祯
Owner SERVICE CENT OF COMMLIZATION OF RES FINDINGS HAIAN COUNTY
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