基于PSO的人工势场法在移动机器人路径规划中的应用

针对栅格法环境模型下PSO算法的结果是一组离散的粒子，需要通过某种准则把离散的粒子变换为连续路径的问题，提出了一种利用人工势场法把PSO规划的结果自行变换成连续路径的新方法。为了避免人工势场使机器人在障碍物附近产生震荡，采用均值滤波的方法，规划出一条平滑最优路径。仿真结果表明：该算法能比较容易地得到最优路径，有效地避免路径的震荡现象，同时也可以在变化的环境中寻找一条路径。

An Application of Artificial Potential Field Based on PSO in Path Planning of Mobile Robot

Under the environment model of grid method, the results of PSO algorithm are a set of discrete particles that is necessarily transformed into a continuous path by some guidelines. Aiming at the above problem, this paper proposes a new method to automatically transform the results of PSO algorithm to continuous path. In order to avoid the oscillating near obstacles in an artificial potential field method, this paper presents a method of mean filter to plan the shortest smooth path. Simulation results show that this algorithm can easily obtain the optimization path and effectively avoid the oscillation of the path.