| Summary: | Aiming at the problems of low path success rate, easy precocious maturity, and easily falling into local extremums in the complex environment of path planning of mobile robots, this paper proposes a new particle swarm algorithm (RDS-PSO) based on restart strategy and adaptive dynamic adjustment mechanism. When the population falls into local optimal or premature convergence, the restart strategy is activated to expand the search range by re-randomly initializing the group particles. An inverted S-type decreasing inertia weight and adaptive dynamic adjustment learning factor are proposed to balance the ability of local search and global search. Finally, the new RDS-PSO algorithm is combined with cubic spline interpolation to apply to the path planning and smoothing processing of mobile robots, and the coding mode based on the path node as a particle individual is constructed, and the penalty function is selected as the fitness function to solve the shortest collision-free path. The comparative results of simulation experiments show that the RDS-PSO algorithm proposed in this paper solves the problem of falling into local extremums and precocious puberty, significantly improves the optimization, speed, and effectiveness of the path, and the simulation experiments in different environments also show that the algorithm has good robustness and generalization.
|
|---|