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A Path Planning Method for Mobile Robots Based on Variable Dimensional Particle Swarm Algorithm

A mobile robot and path planning technology, applied in two-dimensional position/channel control, instruments, calculations, etc., can solve problems such as ineffective solutions and reasonableness

Inactive Publication Date: 2017-05-17
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, these methods have not effectively solved the problem of maximizing rationality in the built environment, that is, considering multiple objectives such as the shortest path, security, and smoothness at the same time, real-time performance, that is, the algorithm requires simplicity and feasibility, and high computational efficiency, and practicality, that is, both It can be used for static offline path planning and can be extended for online dynamic path planning, adaptive, that is, it can be used in simple environments where only a single optimization object is considered, and it can be used in complex environments to simultaneously consider multiple optimizations The problem of multi-faceted balance of the object's situation

Method used

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  • A Path Planning Method for Mobile Robots Based on Variable Dimensional Particle Swarm Algorithm
  • A Path Planning Method for Mobile Robots Based on Variable Dimensional Particle Swarm Algorithm
  • A Path Planning Method for Mobile Robots Based on Variable Dimensional Particle Swarm Algorithm

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Embodiment

[0175] For the present invention, several types of environmental models are designed to check the effect of the algorithm of the present invention, using such as Figure 9 The 16*16, 32*32, and 64*64 grid numbers shown in the environment models with exponential growth are used to verify the algorithm. where O s is a static obstacle, O d is a dynamic obstacle, where the dynamic obstacle is obtained by passing the functional function parameter into the main program to change the environment state variable table after the algorithm iteration starts running, and the grid size is equal to the diameter R of the wheeled mobile robot d , do a grid unit expansion process on static obstacles, and consider the objective function relationship in three cases:

[0176] Case1:K d = 1,K f =K s = 0, γ 1 =1,γ 2 = 0;

[0177] Case2:K d =0.6,K f =K s = 0.2, γ 1 =0,γ 2 = 1;

[0178] Case3:K d =0.8,K f +K s = 0.2, γ 1+γ 2 =1.

[0179] For the grid environment of 16·16 and 32·32,...

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Abstract

The invention belongs to the field of intelligent robot and control technology, and in particular relates to a path planning method for a mobile robot based on a variable-dimensional particle swarm algorithm. The steps of the present invention mainly include: modeling the environment, inputting path parameters, setting the fitness function, initializing effective path parent particles and sub-particles, classifying and reclassifying path particles, evaluating the fitness function, updating the position of the d-dimensional particle, and judging Whether the current particles have invalid dimensions, correct the particles with invalid dimensions and remove redundant dimension information, etc. The invention can quickly plan the optimal path suitable for walking of this type of robot by using the globally known information of the complex environment or the information of the local position of the complex environment and the state parameters of the undetermined mobile robot.

Description

technical field [0001] The invention belongs to the field of intelligent robot and control technology, and in particular relates to a path planning method for a mobile robot based on a variable-dimensional particle swarm algorithm. Background technique [0002] Robot technology has attracted much attention both in the industrial age and in the information age, and has a wide range of applications in both civil industry and national defense. The problem of path planning for mobile robots is an important branch of intelligent robotics. Its main task is to provide mobile robots with a collision-free and reasonable Global or local planning of offline or online working methods. With the continuous complexity of the application background and the continuous expansion of the application field, robot technology has been developing towards a higher level of artificial intelligence. Therefore, it has always been a hot research topic at home and abroad. As an important part of mobile...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00G05D1/02
Inventor 张葛祥王学渊赵俊博
Owner SOUTHWEST JIAOTONG UNIV
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