Improved Particle Swarm Optimization Cubic Spline Algorithm For Path Planning Of Mobile Robot

Path planning for mobile robots in complex environments is a very challenging problem in the field of robot path planning research.In addition to planning an optimal path from the starting position to the target point,the mobile robot must also face the problem that the previously planned path is unreachable due to obstacle movement or the change of the target point position in the moving procedure..In this context,this article focuses on the robot path planning problem in the factory inspection scene.In this scenario,the mobile robot is in a dynamic environment.There are one or more obstacles in a stationary or moving state and a dynamic moving target in the environment.The mobile robot needs to locate and track the moving target.In order to solve the problem of dynamic path planning in this scenario,this paper divides the dynamic environment into several static environments,divides and conquers,and performs path planning on the divided environment to achieve the purpose of dynamic environmental path planning.Based on the above,this paper proposes an improved particle swarm-cubic spline interpolation algorithm(IPSO-Sp).Based on the cubic spline interpolation method to generate the path,a special initial population method is designed.In addition,in the standard particle swarm algorithm,in order to enhance the mining ability of the algorithm and avoid falling into a local optimum,a random positive feedback factor is introduced in the particle update speed.In order to enable the robot to predict the position of the target in advance,the path length of the dynamic environment path planning is shortened.This paper proposes an inertial positioning strategy,which is integrated with the IPSO-Sp algorithm and applied to dynamic environmental path planning.Finally,experiments show that the IPSO-Sp algorithm can make the robot successfully avoid obstacles in a static environment.Compared with other classical algorithms,it can obtain a shorter path.Compared with the IPSO-Sp algorithm combined with the inertial positioning strategy,the path planned by the inertial positioning strategy in a dynamic environment is shorter.