Mobile Robot Path Planning Based on Improved Particle Swarm optimization

2019 ◽  
Author(s):  
Yisa Han ◽  
Li Zhang ◽  
Haiyan Tan ◽  
Xulu Xue
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Mobile Robot ◽  
Particle Swarm ◽  
Robot Path Planning ◽  
Swarm Optimization ◽  
Improved Particle Swarm Optimization ◽  
Robot Path

scholarly journals A Modified Membrane-Inspired Algorithm Based on Particle Swarm Optimization for Mobile Robot Path Planning

2015 ◽  
Vol 10 (5) ◽  
pp. 732 ◽  
Author(s):  
Xueyuan Wang ◽  
Gexiang Zhang ◽  
Junbo Zhao ◽  
Haina Rong ◽  
Florentin Ipate ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Mobile Robot ◽  
Particle Swarm ◽  
Robot Path Planning ◽  
Swarm Optimization ◽  
Algorithm Performance ◽  
Moving Direction ◽  
Feasible Path ◽  
Robot Path

To solve the multi-objective mobile robot path planning in a dangerous environment with dynamic obstacles, this paper proposes a modified membraneinspired algorithm based on particle swarm optimization (mMPSO), which combines membrane systems with particle swarm optimization. In mMPSO, a dynamic double one-level membrane structure is introduced to arrange the particles with various dimensions and perform the communications between particles in different membranes; a point repair algorithm is presented to change an infeasible path into a feasible path; a smoothness algorithm is proposed to remove the redundant information of a feasible path; inspired by the idea of tightening the fishing line, a moving direction adjustment for each node of a path is introduced to enhance the algorithm performance. Extensive experiments conducted in different environments with three kinds of grid models and five kinds of obstacles show the effectiveness and practicality of mMPSO.

Sign in / Sign up

Export Citation Format

Share Document