Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Path Planning Algorithm Using the Particle Swarm Optimization and the Improved Dijkstra Algorithm

  • Kang, Hwan-Il (Department of Information Engineering, Myongji University) ;
  • Lee, Byung-Hee (Department of Information Engineering, Myongji University) ;
  • Jang, Woo-Seok (Department of Information Engineering, Myongji University)
  • Published : 2007.11.02
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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 in [1].

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