Robot path planning in uncertain environments based on particle swarm optimization

  • Authors:

  • Dunwei Gong;Li Lu;Ming Li

  • Affiliations:

  • School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu, P. R. China;School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu, P. R. China;School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu, P. R. China

  • Venue:
  • CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
  • Year:
  • 2009

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Abstract

We propose a robot path planning method based on particle swarm optimization in an uncertain environment. We consider the case that a robot's cognition to its environment is not complete, i.e., the information of these obstacles in the environment is uncertain. We firstly construct a global environment model based on the uncertain information of these obstacles, and then give a globally optimal path by using particle swarm optimization. Finally, we present a local optimal strategy to handle the uncertain information detected by the robot in real-time. Our preliminary simulation results show that the proposed method is feasible and efficient.