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
CN104050390BInactive Publication Date: 2017-05-17SOUTHWEST JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SOUTHWEST JIAOTONG UNIV
Publication Date
2017-05-17
Estimated Expiration
Not applicable · inactive patent

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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.
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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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