CAJ | 학술논문

针对移动机器人路径规划问题,提出了一种基于粒了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.借助粒了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:所提算法町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.
침대이동궤기인로경규화문제,제출료일충기우립료군삼차양조우화적로경규화방법.차조삼차양조련접묘술로경,저양장로경규화문제전화위삼차양조곡선적삼수우화문제.차조립료군우화산법쾌속수렴화전국심우특성실현최우로경규화.실험결과표명:소제산법정이쾌속유효지실현장애배경하궤기인적무팽당로경규화,규화로경평활,리우궤기인적운동공제.
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. Ex-perimental 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.