基于粒子群优化算法的二维路径规划方法研究

Research on 2D Path Planning Method Based on Particle Swarm Optimisation Algorithm

在现代社会中,路径规划问题广泛存在于各行各业,旨在独立探索一条从起始点到目标点的无障碍可行路径,这一过程通常涉及对不同路径工作代价、时间、距离等成本的考虑。针对二维平面对路径规划问题进行研究,基于粒子群优化算法,采用具有线性变换的惯性权重系数和加速常数,并引入三次样条插值约束路径,动态调整惯性因子,平衡算法的全局搜索和局部寻优能力,增加平滑度。实验结果表明,粒子群优化算法在解决二维路径规划方面具备良好的性能。

In modern society,the path planning problem widely exists in all walks of life,aiming at independently exploring an accessible and feasible path from the starting point to the goal point,and this process usually involves the consideration of the cost of work,time,distance,etc.for different path costs.Aiming at the twodimensional planar pair path planning problem,based on the particle swarm optimisation algorithm,the inertia weight coefficients and acceleration constants with linear transformation are used,and cubic spline interpolation is introduced to constrain the path,dynamically adjusting the inertia factors,balancing the algorithm's global search and local optimisation ability,and increasing the smoothness.The experimental results show that the particle swarm optimisation algorithm has good performance in solving 2D path planning.