Proceedings of the 2017 2nd International Conference on Advances in Materials, Mechatronics and Civil Engineering (ICAMMCE 2017)

A New Method for Mobile Robot Path Planning based on Particle Swarm Optimization algorithm

Authors
Ning Qiang, Jie Gao
Corresponding Author
Ning Qiang
Available Online April 2017.
DOI
10.2991/icammce-17.2017.20How to use a DOI?
Keywords
robot path planning, particle swarm optimization, cubic spline, initialization strategy
Abstract

Particle swarm optimization (PSO) algorithm has been widely applied to the mobile robot path planning problems, but it still has some shortcomings such as high coding dimension and premature convergence. This paper proposes a new PSO algorithm combined with cubic spline functions. Firstly, several path nodes are set up in the environment, and then use the cubic spline functions to interpolate on the path of the starting point, path nodes and target point, thus obtain a full path which formed by connecting all interpolation points. The particle coding is just the coordinates of the path nodes, which significantly reduces the coding dimension of the particle. In order to further improve the efficiency of this algorithm, a new initialization strategy and penalty function based fitness are designed. The proposed method shows excellent performance in computational experiments in terms of solving quality, stability and speed.

Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2017 2nd International Conference on Advances in Materials, Mechatronics and Civil Engineering (ICAMMCE 2017)
Series
Advances in Engineering Research
Publication Date
April 2017
ISBN
978-94-6252-310-4
ISSN
2352-5401
DOI
10.2991/icammce-17.2017.20How to use a DOI?
Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Ning Qiang
AU  - Jie Gao
PY  - 2017/04
DA  - 2017/04
TI  - A New Method for Mobile Robot Path Planning based on Particle Swarm Optimization algorithm
BT  - Proceedings of the 2017 2nd International Conference on Advances in Materials, Mechatronics and Civil Engineering (ICAMMCE 2017)
PB  - Atlantis Press
SP  - 95
EP  - 98
SN  - 2352-5401
UR  - https://doi.org/10.2991/icammce-17.2017.20
DO  - 10.2991/icammce-17.2017.20
ID  - Qiang2017/04
ER  -