SCIENCE CHINA Information Sciences, Volume 61, Issue 5: 052204(2018) https://doi.org/10.1007/s11432-016-9115-2

## Path planning for mobile robot using self-adaptive learning particle swarm optimization

• AcceptedMay 16, 2017
• PublishedNov 15, 2017
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### Abstract

As a challenging optimization problem, path planning for mobile robot refers to searching an optimal or near-optimal path under different types of constrains in complex environments. In this paper, a self-adaptive learning particle swarm optimization (SLPSO) with different learning strategies is proposed to address this problem. First, we transform the path planning problem into a minimisation multi-objective optimization problem and formulate the objective function by considering three objectives: path length, collision risk degree and smoothness. Then, a novel self-adaptive learning mechanism is developed to adaptively select the most suitable search strategies at different stages of the optimization process, which can improve the search ability of particle swarm optimization (PSO). Moreover, in order to enhance the feasibility of the generated paths, we further apply the new bound violation handling schemes to restrict the velocity and position of each particle. Finally, experiments respectively with a simulated robot and a real robot are conducted and the results demonstrate the feasibility and effectiveness of SLPSO in solving mobile robot path planning problem.

### Acknowledgment

This work was supported by National Basic Research Program of China (973 Program) (Grant No. 2013CB035503).

### References

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• Figure 1

(Color online) The environment model for mobile robot path planning.

• Figure 2

The flowchart of SLPSO for mobile robot path planning.

• Figure 3

(Color online) The simulation environment for mobile robot path planning in Gazebo.

• Figure 4

(Color online) The path planning results of mobile robot using GA, PSO and SLPSO for different D. (a) Path length; (b) path collision risk degree; (c) path smoothness; (d) overall path cost.

• Figure 5

(Color online) The path planning results of mobile robot using GA, PSO and SLPSO for different D. (a) D= 5; (b) D= 10; (c) D= 15; (d) D= 20; (e) D= 25; (f) D= 30.

• Figure 6

(Color online) The overall path cost results of GA, PSO and SLPSO for mobile robot path planning with different D. (a) D= 5; (b) D= 10; (c) D= 15; (d) D= 20; (e) D= 25; (f) D= 30.

• Figure 7

(Color online) Turtlebot2 robot.

• Figure 8

(Color online) The practical environment for TurtleBot2 robot path planning.

• Figure 9

(Color online) The path planning results of TurtleBot2 robot using GA, PSO and SLPSO in the RVIZ.

•

Algorithm 1 The SLPSO algorithm

Initialize the parameters of SLPSO. Set the population size $N$, generate the initial particles with position and velocity, initialize the update frequency (${U_{\rm~f}}$), and set the generation counter k = 1.

while $k~<~{\rm~Iter}_{\rm~max}$ do

Calculate the inertia weight value by using (11).

for ${i}=1$ to $N$

if $k%~{U_{\rm~f}}==0$ then

Update the selection ratio of each learning operator for particle i.

end if

Select the most suitable operator according to its selection ratio for particle i.

Hand the boundary violation of velocity and position for particle i by using (16) and (17).

Evaluate the objective function of particle i according to (7).

Calculate the reward value, progress value and selection ratio of each operator of particle i for the iteration k+1 according to (12)–(15).

if the updated particle i is better than its ${{\boldsymbol~X}_{\rm~pbest}^k}$ then

Update ${{\boldsymbol~X}_{\rm~pbest}^k}$.

end if

if the updated particle i is better than ${{\boldsymbol~X}_{\rm~gbest}^k}$ then

Update ${{\boldsymbol~X}_{\rm~gbest}^k}$.

end if

end for

k=k+1.

end while

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