DocumentCode :
3483771
Title :
Path Planning Based on Improved Binary Particle Swarm Optimization Algorithm
Author :
Zhang Qiaorong ; Guochang, Gu ; Zhang Qiaorong
Author_Institution :
Coll. of Comput. Sci. & Technol., Harbin Eng. Univ., Harbin
fYear :
2008
fDate :
21-24 Sept. 2008
Firstpage :
462
Lastpage :
466
Abstract :
A new global path planning approach based on binary particle swarm optimization algorithm (BPSO) for a mobile robot is presented. The detailed realization of the approach is illustrated. The obstacles in the robot´s environment are described as polygons and the vertexes of obstacles are numbered from 1 to n. Binary particle swarm optimization is used to plan the path. The length of the particle is the number of the vertexes. Every bit in the particle may be 1 or 0 which represents whether the vertex is in the path or not. To avoid converging too fast (the algorithm stops when the optimal path is not found), the algorithm is improved and the mutation operation is used. Simulation results are provided to verify the effectiveness and practicability of this approach.
Keywords :
mobile robots; particle swarm optimisation; path planning; binary particle swarm optimization; mobile robot; mutation operation; path planning; Computer science; Educational institutions; Genetic mutations; Mobile robots; Optimization methods; Orbital robotics; Particle swarm optimization; Path planning; Robot kinematics; Switches; Binary Particle Swarm Optimization Algorithm; Mobile Robots; Path Planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
Type :
conf
DOI :
10.1109/RAMECH.2008.4681408
Filename :
4681408
Link To Document :
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