中文摘要：

全局路径规划是智能机器人的一个重要研究领域,将二进制粒子群算法应用于路径规划是一种新的尝试。提出一种机器人路径全局路径规划方法,介绍了利用改进的二进制粒子群算法进行路径规划的详细实现过程。机器人工作空间中的障碍物表示为多边形,对多边形顶点进行编号。利用二进制粒子群算法进行路径规划,粒子的长度定义为工作环境中障碍物顶点的个数,每一位为0或1表示路径是否经过该顶点。为了克服传统的二进制粒子群算法的早熟收敛问题,在改进的算法中采用了双重编码结构,并引入变异操作。最后给出仿真结果证明该方法的正确性和有效性。

英文摘要：

Global path planning is an important research field in intelligent rotobs, and it is a new attempt to use binary particle swarm optimization for path planning. A new global path planning approach based on binary particle swarm optimization algorithm （BPSO） for a mobile robot is presented. The detailed realization of the approach is illustrated. The obstacles in the robot＇ s environment are described as polygons and the vertexes of obstacles are numbered from 1 to n. Binary particle swarm optimization is used to plan the path. The length of the particle is the number of the vertexes. Every bit in the particle may be 1 or 0 which represents whether the vertex is in the path or not. To avoid converging too fast, the algorithm is improved. Double coding structure and the mutation operation are used. Simulation results are provided to verify the effectiveness and practicability of this approach.