An improved PSO algorithm for smooth path planning of mobile robots using continuous high-degree Bezier curve

Abstract In this paper, a new strategy is developed to plan the smooth path for mobile robots through an improved PSO algorithm in combination with continuous high-degree Bezier curve. Rather than connecting several low-degree curve segments, use of curves facilitates fulfillment requirement high-order continuity such as curvature derivative, which critical motion control robots. On other hand, planning mathematically optimization problem that can be dealt by evolutionary computation algorithms. regard, particle swarm (PSO) proposed tackle local trapping and premature convergence issues. algorithm, adaptive fractional-order velocity introduced enforce some disturbances on according its state, thereby enhancing capability jumping out minima exploring searching space more thoroughly. The superiority verified comparing standard modified algorithms benchmark functions, advantages also confirmed comprehensive simulation experiments