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Research on Robot Optimal Path Planning Based on Discrete Particle Swarm Optimization

Author: SunChaoFeng
Tutor: ChenShiMing
School: East China Jiaotong University
Course: Control Theory and Control Engineering
Keywords: Discrete Particle Swarm Optimization Mobile robot Dynamic energy threshold Two-stage method Path planning
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 72
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Abstract


Currently, the robot has become the most representative in the high-tech field of strategic objectives. In the robot many key technology research, the core is its navigation and path planning is an important topic in the study of navigation technology. In recent years, with the mobile robot began to be widely used in military, aerospace and other fields. Given that most of the mobile robot is battery-powered, however, due to the limitations of battery technology, the robot's use of time is very limited. Therefore, considering the energy constraints of mobile robot in order to ensure its continued survival sex has become an important research question. In addition, with the development of modern logistics technology, vehicle routing problem has become a hot research topic. Vehicle routing problem with time window constraints applied to multi-robot path planning study, expand and try a new robot path planning. The main content of this paper is as follows: First, the introduction of the particle swarm algorithm and its development process, and by defining the rules of operation of some of the basic arithmetic operators improved discrete particle swarm algorithm, and the algorithm is applied to TSP problem, the performance of the algorithm is analyzed by simulation, and verify the effectiveness of the improved algorithm. Secondly, in order to minimize the energy consumption of the robot, improved discrete particle swarm algorithm applied to a single robot path planning based on energy constraints, combined with the dynamic energy threshold method to achieve near-optimal energy consumption. The method by considering energy constraints to ensure the continuing survival properties in the the robot execution path planning, and particle swarm search with energy constraints organic combination, in order to effectively reduce the energy consumption of the robot to complete the planning in mobile robot path planning stage. At the same time, further evidence that the algorithm has good optimization ability and convergence efficiency. Then, by an effective means of the single charging station and the charging station to the two charging stations as an example, the the simulation contrast in the case where the experimental verification: additional charging stations is also to reduce energy consumption in a suitable location. Finally, the vehicle routing problem with time windows applications to multi-robot path planning, soft time window constraint-based multi-robot optimal path planning study and construct the encoding of multi-robot path planning problem. At the same time, the proposed two-stage optimization strategy applied to multi-robot optimal path planning with soft time windows and its optimization solution. : In the first stage, the first ordinary optimization method, solving the overall optimization of multi-robot path and task allocation; In the second phase, based on the optimal solution for the first phase of optimization, respectively, on the path of each robot again optimized. Simulation results verify the feasibility and effectiveness of the method.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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