Comparison of Three Different Curves Used in Path Planning Problems Based on Particle Swarm Optimizer

In path planning problems, the most important task is to find a suitable collision-free path which satisfies some certain criteria (the shortest path length, security, feasibility, smoothness, and so on), so defining a suitable curve to describe path is essential. Three different commonly used curve...

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Bibliographic Details
Published in:Mathematical problems in engineering 2014-01, Vol.2014 (2014), p.1-15
Main Authors: Liang, J. J., Song, H., Qu, B. Y., Liu, Z. F.
Format: Article
Language:English
Subjects:
3-D graphics
Algorithms
Bezier
Collision avoidance
Constraints
Criteria
Curves
Feasibility
Mathematical analysis
Path planning
Performance enhancement
Personal computers
Smoothness
Software packages
Swarm intelligence
Tasks
Virtual reality
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Summary:In path planning problems, the most important task is to find a suitable collision-free path which satisfies some certain criteria (the shortest path length, security, feasibility, smoothness, and so on), so defining a suitable curve to describe path is essential. Three different commonly used curves are compared and discussed based on their performance on solving a set of path planning problems. Dynamic multiswarm particle swarm optimizer is employed to optimize the necessary parameters for these curves. The results show that Bezier curve is the most suitable curve for producing path for the certain path planning problems discussed in this paper. Safety criterion is considered as a constrained condition. A new constraint handling method is proposed and compared with other two constraint handling methods. The results show that the new method has a better characteristic to improve the performance of algorithm.
ISSN:1024-123X
1563-5147
DOI:10.1155/2014/623156