PATH PLANNING IN DISTRIBUTED INTELLIGENT ENVIRONMENT

摘要

To solve the path planning task in distributed intelligent environment, a new algorithm is proposed which combining multi-objective optimization algorithm and snake algorithm to generate an optimal control trajectory which applies to the robot motion control. Firstly, according to multi-objective optimization algorithm, for mobile robots with nonholonomic constraints, we can acquire Pareto Optimality after considering constraints of snake model separately. Then, a new strategy is applied to get a final optimal path from these feasible results. Finally, the efficiency and accuracy are shown by a simulation.