Local Path Planning Algorithm Based on Particle Swarm Optimization of Cubic Splines
Bin Jing · Computer Technology and Development · 2012
In order to solve the problem of mobile robot local path planning smoothly in globally static unknown environment,an algorithm based on particle swarm optimization(PSO) of cubic splines and the rolling windows is proposed.With the cubic splines description of the path and the locally environmental information obtained by mobile robot in real-time,the particle swarm optimization is used to solve the optimization problem of splines parameters.Then,the locally optimal path is got,which is first-order continuous.The simulation results show that a collision-avoidance path can be found fleetly and effectively by the proposed algorithm in static unknown environment.And the planned path is smooth which is useful for robot motion control.