Title :
Path Planning Algorithm Using the Particle Swarm Optimization and the Improved Dijkstra Algorithm
Author :
Kang, Hwan Il ; Lee, Byunghee ; Kim, Kabil
Author_Institution :
Dept. of Inf. Eng., Myongji Univ., Yongin
Abstract :
In this paper, we develop the path planning algorithm using the improved Dijkstra algorithm and the particle swarm optimization. To get the optimal path, at first we construct the MAKLINK on the world environment and then make a graph associated with the MAKLINK. From the graph, we obtain the Dijkstra path between the starting point and the destination point. From the optimal path, we search the improved Dijkstra path using the graph. Finally, applying the particle swarm optimization to the improved Dijkstra path, we obtain the optimal path for the mobile robot. It turns out that the proposed method has better performance than the result.
Keywords :
mobile robots; particle swarm optimisation; path planning; Dijkstra algorithm; MAKLINK; mobile robot; particle swarm optimization; path planning algorithm; Computational intelligence; Computer industry; Conferences; Evolutionary computation; Mobile robots; Navigation; Optimization methods; Orbital robotics; Particle swarm optimization; Path planning; improved Dijkstra algorithm; path planning algorithm; the particle swarm optimization;
Conference_Titel :
Computational Intelligence and Industrial Application, 2008. PACIIA '08. Pacific-Asia Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-0-7695-3490-9
DOI :
10.1109/PACIIA.2008.376