Multi-Robots Global Path Planning Based on PSO Algorithm and Cubic Spline

Authors

Qiang Ning, 1. School of Physics and Information Technology, Shaanxi Normal University, Xi'an 710119, China;;
Gao Jie, 1. School of Physics and Information Technology, Shaanxi Normal University, Xi'an 710119, China;;
Fengju Kang, 2. School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China;

Abstract

Abstract: There are shortcomings such as premature convergence, high encoding dimension and unsmooth path for particle swarm optimization (PSO) algorithm to solve the robot path planning problem under free space. The particle coding is coordinates of several path nodes in the environment. The number of spline curves and the maximum turnings of path were determined by the number of path nodes. The cubic spline function was used to interpolate on the path of the starting point, path nodes and target point, thus a full path which was formed by connecting all interpolation points was obtained. Simulation results show that compared with the traditional methods, the proposed algorithm can quickly find the optimal path, and can plan the optimal collision free path for multi-robots.

Recommended Citation

Ning, Qiang; Jie, Gao; and Kang, Fengju (2020) "Multi-Robots Global Path Planning Based on PSO Algorithm and Cubic Spline," Journal of System Simulation: Vol. 29: Iss. 7, Article 2.
DOI: 10.16182/j.issn1004731x.joss.201707002
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss7/2

First Page

1397

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201707002

Last Page

1404

CLC

TP391.9

Recommended Citation

Qiang Ning, Gao Jie, Kang Fengju. Multi-Robots Global Path Planning Based on PSO Algorithm and Cubic Spline[J]. Journal of System Simulation, 2017, 29(7): 1397-1404.

DOI

10.16182/j.issn1004731x.joss.201707002