Research on Path Planning of Mobile Robot based on Particle Algorithm

Qiang Huang

《International Core Journal of Engineering》 7卷6期 (2021/06) Pp. 423-431

https://doi.org/10.6919/ICJE.202106_7(6).0050

摘要

Particle Swarm Optimization (PSO) is an evolutionary computing technology, similar to genetic algorithm, and also an optimization tool based on iteration. The system is initialized into a group of random solutions, and the particle searches in the solution space following the optimal particle through iteration. At present, it has been widely used in function optimization, neural network training, fuzzy system control and other applications of genetic algorithms. In this paper the static problem of mobile robot path planning are studied, the grid method is used to establish the global path planning for mobile robot, on the basis of the simulation environment, respectively random standard particle swarm optimization (pso) algorithm and particle swarm optimization (pso) algorithm was used for path planning of mobile robot programming simulation, and has made the comparison and analysis to the simulation results of the two. Through the comparison of the results, it is proved that the proposed method is better than other global path planning methods in terms of convergence speed and dynamic convergence characteristics.

關鍵字

Mobile Robot ； Particle Swarm Optimization ； Path Planning ； Grid Method

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