A cubic spline method combing improved particle swarm optimization for robot path planning in dynamic uncertain environment

Author:

Li Wen1,Tan Mao2ORCID,Wang Ling3,Wang Qiuzhen4

Affiliation:

1. Laboratory of Intelligent Computing & Information Processing of Ministry of Education, Xiangtan University, Xiangtan, China

2. College of Information Engineering, Xiangtan University, Xiangtan, China

3. Department of Automation, Tsinghua University, Beijing, China

4. College of Computer, National University of Defense Technology, Changsha, China

Abstract

This article considers a robot path planning problem originated from a robot factory inspection scenario. In the problem, the robot is in a dynamic uncertain environment, that is, a moving target object and several static and dynamic obstacles. An inertial positioning strategy is proposed to enable the robot to predict the position of the target in advance. From this predicted position, the robot path is generated by cubic spline interpolation, and then an improved particle swarm optimization algorithm with a random positive feedback factor in velocity updating optimizes the path. The experimental results show that the proposed method can successfully avoid the obstacles and reach the target object. In addition, the inertial positioning strategy and the improvement of particle swarm optimization can effectively shorten the path of the robot.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Cited by 19 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3