An Application of Artificial Potential Field Based on PSO in Path Planning of Mobile Robot
Huazhong Wang · Huadong Li-Gong Daxue xuebao · 2010
Under the environment model of grid method,the results of PSO algorithm are a set of discrete particles that is necessarily transformed into a continuous path by some guidelines.Aiming at the above problem,this paper proposes a new method to automatically transform the results of PSO algorithm to continuous path.In order to avoid the oscillating near obstacles in an artificial potential field method,this paper presents a method of mean filter to plan the shortest smooth path.Simulation results show that this algorithm can easily obtain the optimization path and effectively avoid the oscillation of the path.