摘要
针对移动机器人路径规划问题,提出了一种基于粒子群三次样条优化的路径规划方法.借助三次样条连接描述路径,这样将路径规划问题转化为三次样条曲线的参数优化问题.借助粒子群优化算法快速收敛和全局寻优特性实现最优路径规划.实验结果表明:所提算法可以快速有效地实现障碍环境下机器人的无碰撞路径规划,规划路径平滑,利于机器人的运动控制.
A novel algorithm based on particle swarm optimization （PSO） of cubic splines is proposed for mobile robot path planning. The path is described by string of cubic splines, thus the path planning is equivalent to parameter optimization of particular cubic splines. PSO is introduced to get the optimal path for its fast convergence and global search character. Experimental results show that a collision-avoidance path can be found fleetly and effectively among obstacles by the proposed algorithm. The planned path is smooth which is useful for robot motion control.
出处
《机器人》
EI
CSCD
北大核心
2009年第6期556-560,共5页
Robot
基金
国家863计划资助项目(2006AA01Z127)
国家自然科学基金资助项目(60802077)
关键词
移动机器人
路径规划
粒子群优化
三次样条
mobile robot
path planning
particle swarm optimization （PSO）
cubic spline
