Application of Particle Swarm Optimization to Robot Path Planning Problem

2010 ◽  
Author(s):  
Masakazu Kobayashi ◽  
Higashi Masatake
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Particle Swarm ◽  
Degree Of Freedom ◽  
Planning Problem ◽  
Robot Path Planning ◽  
Swarm Optimization ◽  
Articulated Robot ◽  
Path Planning Problem ◽  
Robot Path

A robot path planning problem is to produce a path that connects a start configuration and a goal configuration while avoiding collision with obstacles. To obtain a path for robots with high degree of freedom of motion such as an articulated robot efficiently, sampling-based algorithms such as probabilistic roadmap (PRM) and rapidly-exploring random tree (RRT) were proposed. In this paper, a new robot path planning method based on Particle Swarm Optimization (PSO), which is one of heuristic optimization methods, is proposed in order to improve efficiency of path planning for a wider range of problems. In the proposed method, a group of particles fly through a configuration space while avoiding collision with obstacles and a collection of their trajectories is regarded as a roadmap. A velocity of each particle is updated for every time step based on the update equation of PSO. After explaining the details of the proposed method, this paper shows the comparisons of efficiency between the proposed method and RRT for 2D maze problems and then shows application of the proposed method to path planning for a 6 degree of freedom articulated robot.

scholarly journals Multi-robot path planning using an improved self-adaptive particle swarm optimization

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093615
Author(s):  
Biwei Tang ◽  
Kui Xiang ◽  
Muye Pang ◽  
Zhu Zhanxia
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Evolutionary Game ◽  
Particle Swarm ◽  
Computation Time ◽  
Robot Path Planning ◽  
Swarm Optimization ◽  
Robot Path ◽  
Self Adaptive ◽  
Multi Robot

Path planning is of great significance in motion planning and cooperative navigation of multiple robots. Nevertheless, because of its high complexity and nondeterministic polynomial time hard nature, efficiently tackling with the issue of multi-robot path planning remains greatly challenging. To this end, enhancing a coevolution mechanism and an improved particle swarm optimization (PSO) algorithm, this article presents a coevolution-based particle swarm optimization method to cope with the multi-robot path planning issue. Attempting to well adjust the global and local search abilities and address the stagnation issue of particle swarm optimization, the proposed particle swarm optimization enhances a widely used standard particle swarm optimization algorithm with the evolutionary game theory, in which a novel self-adaptive strategy is proposed to update the three main control parameters of particles. Since the convergence of particle swarm optimization significantly influences its optimization efficiency, the convergence of the proposed particle swarm optimization is analytically investigated and a parameter selection rule, sufficiently guaranteeing the convergence of this particle swarm optimization, is provided in this article. The performance of the proposed planning method is verified through different scenarios both in single-robot and in multi-robot path planning problems. The numerical simulation results reveal that, compared to its contenders, the proposed method is highly promising with respect to the path optimality. Also, the computation time of the proposed method is comparable with those of its peers.

scholarly journals A Novel Three-Dimensional Path Planning Method for Fixed-Wing UAV Using Improved Particle Swarm Optimization Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Chen Huang
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Three Dimensional ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Planning Problem ◽  
Dimensional Problem ◽  
Complex Environment ◽  
Swarm Optimization ◽  
Path Planning Problem

This paper proposed an improved particle swarm optimization (PSO) algorithm to solve the three-dimensional problem of path planning for the fixed-wing unmanned aerial vehicle (UAV) in the complex environment. The improved PSO algorithm (called DCA ∗ PSO) based dynamic divide-and-conquer (DC) strategy and modified A ∗ algorithm is designed to reach higher precision for the optimal flight path. In the proposed method, the entire path is divided into multiple segments, and these segments are evolved in parallel by using DC strategy, which can convert the complex high-dimensional problem into several parallel low-dimensional problems. In addition, A ∗ algorithm is adopted to generated an optimal path from the particle swarm, which can avoid premature convergence and enhance global search ability. When DCA ∗ PSO is used to solve the large-scale path planning problem, an adaptive dynamic strategy of the segment selection is further developed to complete an effective variable grouping according to the cost. To verify the optimization performance of DCA ∗ PSO algorithm, the real terrain data is utilized to test the performance for the route planning. The experiment results show that the proposed DCA ∗ PSO algorithm can effectively obtain better optimization results in solving the path planning problem of UAV, and it takes on better optimization ability and stability. In addition, DCA ∗ PSO algorithm is proved to search a feasible route in the complex environment with a large number of the waypoints by the experiment.

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