A Optimal Path Planning of Multi-destinations for Mobile Robot in Complex Environment

A lot of progress has been made in the research of point-to-point and complete coverage path planning of mobile robots, while the multi-destinations path planning is seldom reported in the literatures. Based on particle swarm optimization and vortex search algorithms, this paper proposes a multi-destinations path planning approach, which is suited to plan a feasible, safe and optimal path between multi-destinations in complex home environment for mobile robot. Firstly, the sequence of the destinations is quickly optimized by using the particle swarm optimization algorithm. Then, the collision-free path between destinations is obtained via vortex search algorithm with its advantages of high efficiency and small computation. Finally, simulation results show that the proposed multi-destinations path planning approach has the good explorative and exploitation ability, while the path planned by proposed approach is smooth, short.