The invention proposes a
robot path planning
algorithm based on a
particle swarm optimization algorithm and a dynamic window method, and relates to the field of control theories and
electronic information, and the method comprises the steps: introducing an
inertia weight updating strategy based on a state factor, setting adaptive parameters and
crossover and
mutation operators to improve the global search capability, increase the
population diversity, and improve the
robot path planning precision. On-line self-adaptive updating of
inertia weight and learning factors is realized on line in combination with Q-learning,
gene combination
modes are enriched through
crossover operators, convergence and exploratory performance of the
algorithm are improved, an
obstacle avoidance strategy of a traditional DWA algorithm is improved, weight parameters of a dynamic window
evaluation function are dynamically adjusted according to real-
time information of a target and an obstacle, and an
obstacle avoidance algorithm is established. According to the method, the
global planning is adopted, the path points generated through
global planning are adopted as temporary targets, fusion of MOQLCOPSO and the improved DWA algorithm is achieved,
local optimum is effectively avoided, the planning efficiency and path safety are improved, and the method is suitable for
mobile robot navigation under the complex three-dimensional
terrain.