Robot Path Planning Based on Adaptive Particle Swarm Optimization
[1]GAO Yuelin,WU Shaohua.Robot Path Planning Based on Adaptive Particle Swarm Optimization[J].Journal of Zhengzhou University (Engineering Science),2020,41(04):46-51.[doi:10.13705/j.issn.1671-6833.2020.01.004]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
41卷
Number of periods:
2020 04
Page number:
46-51
Column:
Public date:
2020-08-12
- Title:
- Robot Path Planning Based on Adaptive Particle Swarm Optimization
- Keywords:
- particle swarm algorithm' target='_blank'>">particle swarm algorithm; simulated annealing algorithm; Robot path planning; cubic spline interpolation;
- CLC:
- -
- DOI:
- 10.13705/j.issn.1671-6833.2020.01.004
- Abstract:
- Particle swarm optimization algorithm was easy fall into local optimum,the convergence speed was slow in the late path search,and the path was not smooth in the robot path planning.An improve simulated annealing adaptive particle swarm optimization algorithm was proposed.The algorithm combined the advantages of simulated annealing and particle swarm optimization.In the early stage of the algorithm route search was fast,and the algorithm had the ability of sudden jump in the path search process,which could effectively avoid falling into the local optimal path.Using cubic spline interpolation smooth the path,and the convergence precision of the late search path was high.The simulation results showed that the algorithm could quickly find the shortest smooth path in different obstacle models,and the path effect was better than the traditional method.
- References:
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Last Update:
2020-10-07