|Table of Contents|

Path Planning for Mobile Robot Based on Binary Particle Swarm Optimization(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2009年02期
Page:
72-78
Research Field:
Publishing date:

Info

Title:
Path Planning for Mobile Robot Based on Binary Particle Swarm Optimization
Author(s):
Wang Yan; Zhu Qingbao
School of Computer Sciences,Nanjing Normal University,Nanjing 210097,China
Keywords:
mob ile robot;  pa th planning;  binary partic le sw arm optim ization;  gr id m e thod
PACS:
TP242
DOI:
-
Abstract:
A t present, the study o f the robot path plann ing w ith Partic le Swa rm Optim ization ( PSO) is still con fined to use the continuous m ode l to p lan the path w ith continuous m ethod, so the a lgo rithm has ce rtain lim ita tions. Then a d isc rete b inary version of the PSO for path p lann ing of robot based on gr id m e thod is proposed. The first step of the algorithm is to m ake thew ork env ironm ent o f robot w ith g rid m ethod, based on wh ich robo t route is expressed as b ina ry code o f the partic le location, and the length o f the pa th is taken as the fitness va lue, and after the in itia l popu lation is generated, the location and veloc ity o f partic les are updated. Then the d iscrete binary version of the PSO is introduced to obta inde a optim ized path be tw een starting-po int and goa-l po int through m any iterations. This a lgor ithm is simp le in m ode,l low in a lgo rithm com plex ity, and rapid in convergence. The sim ulation results are prov ided to ver ify effectiveness and practicability o f them ethod.

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Last Update: 2013-04-23