关键词: 机器人, 路径规划, 未知环境, 粒子群优化, 导航路径

Abstract: The problem of path planning of mobile robot in an environment where the global information is unknown is studied，and a novel rolling planning algorithm based on particle swarm optimization is proposed.Firstly，a number of concentric circles are produced in the view of robot，and a navigation path is mapped out using particle swarm optimization.A navigation path will be gotten again using particle swarm optimization once the robot goes forward.So，the path for the robot is altered dynamically，which will make the robot move on a globally optimal path to the ending node.Simulation results indicate that the optimal path which the robot moves on can reach to the end safely and can be rapidly obtained even in complicated geographical environments，the effect being very satisfactory.

Key words: mobile robot, path planning, unknown environment, particle swarm optimization, navigation path