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Improved particle swarm optimization-based mobile robot path planning method

A technology for mobile robots and improved particle swarms, applied in instruments, artificial life, non-electric variable control, etc.

Inactive Publication Date: 2017-08-18
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0021] In order to solve the problem of global path planning for existing mobile robots, the present invention proposes a path planning method for mobile robots based on improved particle swarm optimization to find high-quality obstacle-free paths for mobile robots working in complex environments

Method used

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  • Improved particle swarm optimization-based mobile robot path planning method
  • Improved particle swarm optimization-based mobile robot path planning method
  • Improved particle swarm optimization-based mobile robot path planning method

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Embodiment Construction

[0096] The present invention will be further described below in conjunction with drawings and embodiments.

[0097] The mobile robot path planning method based on improved particle swarm optimization of the present invention comprises the following steps:

[0098] Step 1. Workspace modeling

[0099] Model the workspace as figure 1 As shown, a global coordinate system o-xy is established, where st and ta represent the starting and destination positions of the robot, respectively. In order to reduce the dimension of the decision variable, the principle of coordinate transformation is used to locate the new x’-axis, when st-ta intersects with the x-axis, the x’-axis is consistent with the line st-ta, as follows

[0100]

[0101] where α is the counterclockwise rotation angle from the x-axis to the line st-ta, (x st ,y st ) is the starting position of the robot in o-xy. (x',y') is the point corresponding to (x,y) in the new coordinate system st-x'y'. In st-x'y', the line ...

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Abstract

The invention discloses an improved particle swarm optimization-based mobile robot path planning method. According to the method, a global optimal update strategy of disturbance is implemented in RDSAPSO (random-disturbance self-adaptive particle swarm optimization), small random disturbance is added to a global optimal position in a population, so that non-stagnation attributes in the RDSAPSO are obtained; an adaptive strategy is adopted to finely adjust three control parameters of particles in the RDSAPSO, so that global search capability and local search capability can be better balanced in the RDSAPSO, and a convergence guarantee parameter selection principle is provided for the RDSAPSO; and the constraint conditions of a path planning problem are solved through using a feasibility rule, and therefore, optimization difficulty can be decreased, and diversity can be decreased; and the developed RDSAPSO is utilized, so that an RDSAPSO-based path planning method framework is completed. With the method of the invention adopted, an effective method is provided for the path planning problem of a mobile robot.

Description

technical field [0001] The invention belongs to the field of path planning for mobile robots, and relates to path planning algorithms, in particular to a path planning method for mobile robots based on improved particle swarm optimization. Background technique [0002] Over the past few decades, mobile robot path planning has rapidly gained increasing research interest due to the wide range of applications of mobile robots in diverse fields such as planetary exploration, surveillance, and landmine detection (to name just a few).[ 1]. The purpose of path planning is to determine the optimal or suboptimal obstacle-free path from a start location to a destination location while optimizing some predefined performance criteria such as path length and smoothness [2]. In general, whether comprehensive knowledge about the environment is available path planning can be classified into global path planning (GPP) and local path planning (LPP). GPP is usually performed off-line, and a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06N3/00
CPCG05D1/0221G05D1/0219G06N3/006
Inventor 朱战霞靖飒唐必伟袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
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