Mobile Robot Path Planning with Complex Constraints Based on the Second-Order Oscillating Particle Swarm Optimization Algorithm
Computer Science and Information Engineering, World Congress on (2009)
Los Angeles, California USA
Mar. 31, 2009 to Apr. 2, 2009
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CSIE.2009.124
According to the low efficiency of Particle Swarm Optimization algorithm applied in mobile robot path planning with complex constraints, a novel boundary constraints handling mechanism was put forward through analyzing the type of constraints. In addition, the path planning method based on Second-order Oscillating Particle Swarm Optimization (SOPSO) was proposed to improve the properties of solutions, in which the searching ability of particles was enhanced by controlling the process of oscillating convergence and asymptotic convergence. A comparison of the results was made by simple PSO, standard PSO, Chaotic particle swarm optimization (CPSO) and SOPSO, which showed that SOPSO has the highest efficiency and accuracy. SOPSO is much more suitable for solving this kind of problem.
Path planning, Complex constraints, Second-order Oscillating Particle swarm optimization
Qianzhi Ma, Xiujuan Lei, Qun Zhang, "Mobile Robot Path Planning with Complex Constraints Based on the Second-Order Oscillating Particle Swarm Optimization Algorithm", Computer Science and Information Engineering, World Congress on, vol. 05, no. , pp. 244-248, 2009, doi:10.1109/CSIE.2009.124