Abstract-Mobile robot navigation is to find an optimal path to guide the movement of the robot, so path planning is guaranteed to find a feasible optimal path. However, the path planning problem must be solve two problems, i.e., the path must be kept away from obstacles or avoid the collision with obstacles and the length of path should be minimized. In this paper, a path planning algorithm based on random coding particle swarm optimization (RCPSO) algorithm is proposed to get the optimal collision-free path. Dijstra algorithm is applied to search a suboptimal collision-free path in our algorithm; then the RCPSO algorithm is developed to tackle this optimal path planning problem in order to generate the global optimal path. The crossover operator of genetic algorithm and random coding are introduced into the particle swarm optimization to optimize the location of the sub-optimal path. The experiment results show that the proposed method is effective and feasible compared with different algorithms.

Abstract-The essence of finite impulse response (FIR) digital filter design is the problem of the parameter optimization. Namely the optimal parameters of FIR digital filter are the core of the design. In due to the traditional design method of FIR digital filter is not only accuracy not high but also sideband frequency is difficult to determine. Improve Weight Particle Swarm Optimization (IWPSO) to design FIR digital filter has less calculation and fast convergence speed. The simulation results also demonstrate that the IWPSO has better approximation properties and band-pass characteristics. what's more, the convergence of IWPSO algorithm made good results in filter design efficiency.