Hybrid Path Planning of Robots Through Optimal Control and PSO Algorithm

In this paper, a hybrid algorithm for robot's path planning is proposed. This algorithm consists of the optimal control algorithm and PSO meta-heuristic algorithm. In this method, a two-point boundary value equation is derived through optimal control method and the initial solution is needed to solve it. To solve these equations, the PSO provides preliminary solutions and optimizing the solution of equations (robot path) with optimizing initial solution concerning cost function results in global optimization. So the formulation of proposed method is presented and it is used for path planning of a 4-DOF surgical robotic system. The results show that in this algorithm, the cost function does not depend on initial guess in comparison with optimal control and PSO methods.