期刊名称：Lecture Notes in Engineering and Computer Science
印刷版ISSN：2078-0958
电子版ISSN：2078-0966
出版年度：2018
卷号：2235&2236
页码：19-24
出版社：Newswood and International Association of Engineers
摘要：Path planning for a mobile robot is a difficult
task and has been widely studied in robotics. The objective of
recent researches is not just to find feasible paths but to find
paths that are optimal with respect to distance covered and
safety of the robot. Techniques based on optimization have
been proposed to solve this problem but some of them used
techniques that may converge to local minimum. In this paper,
we present a global path planning algorithm for a mobile robot
in a known environment with static obstacles. This algorithm
finds the optimal path with respect to distance covered. It uses
particle swarm optimization (PSO) technique for convergence
to global minimum and a customized algorithm which
generates the coordinates of the search space. Our customized
algorithm generates the coordinates of the search space and
passes the result to the PSO algorithm which then uses the
coordinate values to determine the optimal path from start to
finish. We perform our experiments using four different
environments with population size 100 each in a 10 x 10 grid
terrain and our results are favorable.
