A smooth path planning method for mobile robot using a BES-incorporated modified QPSO algorithm

作者：

Highlights：

• The path planning and path smoothing are combined through the high-order continuous Bezier curve.

• An improved QPSO that incorporates two search mechanisms from bald eagle search (BES) is proposed.

• The concept of semi-randomization is infused in some of our modifications in BES-MQPSO.

• Enhanced intensive exploitation is performed by incorporating BES search and swoop mechanisms.

• It may be the first time to apply BES tricks to help to enhance QPSO and into the path planning field.

摘要

•The path planning and path smoothing are combined through the high-order continuous Bezier curve.•An improved QPSO that incorporates two search mechanisms from bald eagle search (BES) is proposed.•The concept of semi-randomization is infused in some of our modifications in BES-MQPSO.•Enhanced intensive exploitation is performed by incorporating BES search and swoop mechanisms.•It may be the first time to apply BES tricks to help to enhance QPSO and into the path planning field.

论文关键词：Smooth path planning,Metaheuristic,BES-MQPSO,Bezier curve,Mobile robot

论文评审过程：Received 16 July 2021, Revised 17 June 2022, Accepted 20 July 2022, Available online 25 July 2022, Version of Record 31 July 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118256