The present invention relates to a local path planning
algorithm based on
membrane computing and
particle swarm optimization, comprising the following steps: initializing a limited speed of a
robot toestablish a speed-position coordinate
system, sampling a position and a speed of a particle, initializing a
membrane structure and allocating particles, calculating a
fitness function of the particles and searching particle
local optimum in an elementary membrane and
global optimum in a
surface membrane, for updating the position and the speed of the particle and
local optimum and
global optimum,performing iteration constantly, determining whether a fitness value reaches a required fitness threshold
delta, if yes, stopping iteration, and outputting coordinates of a
global optimum particle, otherwise determining whether the number of iteration times reaches a maximum value N, if no, continuing to perform iteration, otherwise stopping iteration and outputting coordinates of the global optimum particle, that is, a driving speed of the
robot in a next moment is obtained. The entire
algorithm obviously enhances reliability and a real-time characteristic of local path planning, so that a barrier can be safely avoided with a shortest driving distance and time.