An Optimized Algorithm Based on Random Tree and Particle Swarm
نویسنده
چکیده
Received Aug 11, 2013 Revised Feb 20, 2014 Accepted Mar 10, 2014 A based on Rapidly-exploring Random Tree (RRT) and Particle Swarm Optimizer (PSO) for path planning of the robot is proposed. First the grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path, and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment. The successful obstacle avoidance is achieved, and the model is robust and performs reliably. Keyword:
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