基于粒子群三次样条优化的移动机器人路径规划算法

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．

Mobile Robot Path Planning Algorithm Based on Particle Swarm Optimization of Cubic Splines

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.