Global Path Planning for Mobile Robot Based on Improved Dijkstra Algorithm and Particle Swarm Optimization

摘要：

A novel method of improved Dijkstra algorithm and particle swarm optimization is proposed to evaluate global path planning for mobile robot. The first step is to make the MAKLINK graph which is used to describe the working space of mobile robot. The limited length value of free linkage line is conducted to substitute the constant weights in the adjacent matrix, which is well correlated with the fact that the number of paths is drastically less than that using the conventional Dijkstra method. Then the particle swarm optimization is adopted to investigate the global path from the several possible paths. Therefore, the proposed method facilitates reducing the computing time which enhances the efficiency of particle swarm optimization when performs the global path planning for mobile robot. Furthermore, simulation result is provided to verify the effectiveness and practicability.

关键词： Global path planning Mobile robot Dijkstra algorithm Particle swarm optimization

作者: Naichao Chen Ping He Xianming Rui

作者单位: School of Energy and Environment Engineering, Shanghai University of Electric Power,Shanghai 200090 China

会议类型: 国际会议

会议名称: 2010 International Conference on Advanced Mechanical Engineering(2010年先进机械工程国际学术会议 AME 2010)

会议地点: 洛阳

会议语种:英文

页码: 909-912

在线出版日期: 2010-09-04（万方平台首次上网日期，不代表论文的发表时间）