Geng Na, Sun Xiaoyan, Gong Dunwei, and Zhang Yong
Mobile robot, path planning, many terrains, particle swarm opti-mization, interval multi-objective
In this paper, we propose an interval multi-objective particle swarm optimization (PSO) algorithm to solve the robot path planning problem in an environment with many terrains. To facilitate problem solving, the environment is firstly sketched by lines based on the terrain information. Taking the fluctuation of a robot’s velocity into consideration, the time used by a robot to reach its destination is formulated as an interval. The danger degree associated with the robot’s path is estimated by the area ratio between the path and the dangerous sources. The time, the danger degree in addition to the path length need to be minimized simultaneously, which is referred to as a three-objective optimization problem. In the proposed PSO, interval-based solution domination relationships are defined, together with solution update. Comparison with other algorithms showed the superiority of the developed algorithm. The simulation and experimental results verify the effectiveness of the proposed PSO in a real application.
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