基于QPSO 算法移动机器人轨迹规划与实验

针对移动机器人路径规划问题，提出一种基于QPSO算法的路径规划方法，并用概率论的方法分析了移动机器人路径规划的收敛性，阐明了该方法随均匀分布和正态分布的参数关系和收敛区间；然后根据移动机器人的运动特征提出一种改进的轨迹规划方法。移动机器人平台的实验结果表明了该方法在移动机器人路径规划中的有效性和可行性。

Mobile robot trajectory planning based on QPSO algorithm and experiment

For the problem of mobile robot path planning, a path planning method based on quantum-behaved particle swarm optimization(QPSO) algorithm is proposed. The probability theory is applied to study the relationship with the parameters and convergence of mobile robot path planning, and the convergence interval of the method with uniform distribution and normal distribution is clarified. Considering the movement characteristics of mobile robot, an improved trajectory planning method is proposed. Experimental and calculation results show the effectiveness of the proposed method for mobile robot path planning.