Robot path planning and trajectory optimization based on Sparrow search algorithm

Xiaoyiqun Zhang; Lixia Deng; Haiying Liu; Bin Li; Hui Zhang; Yang Zhao

doi:10.1117/12.2652693

20 October 2022 Robot path planning and trajectory optimization based on Sparrow search algorithm

Xiaoyiqun Zhang, Lixia Deng, Haiying Liu, Bin Li, Hui Zhang, Yang Zhao

Proceedings Volume 12350, 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022); 123502P (2022) https://doi.org/10.1117/12.2652693
Event: 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022), 2022, Qingdao, China

Abstract

This paper presents an intelligent optimization algorithm applied to the two-dimensional path planning of a mobile robot and optimizes its trajectory. The method is based on the sparrows' behavior of finding food and avoiding predators. The method is implemented in a raster map and uses the Sparrow search algorithm for preliminary path planning to find a passable optimal path, and in order to solve the shortcomings of many folds and not being smooth enough at the folds, the use of B spline curve to smooth the path to solving the shortcomings of many fold points and not being smooth enough at the fold.

Citation Download Citation

Xiaoyiqun Zhang, Lixia Deng, Haiying Liu, Bin Li, Hui Zhang, and Yang Zhao "Robot path planning and trajectory optimization based on Sparrow search algorithm", Proc. SPIE 12350, 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022), 123502P (20 October 2022); https://doi.org/10.1117/12.2652693

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