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Path Planning Method for Mobile Robot Based on Whale Optimization Algorithm

A mobile robot, optimization algorithm technology, applied in two-dimensional position/channel control and other directions

Active Publication Date: 2021-09-10
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

Wang Jianhao and others proposed a whale optimization algorithm based on chaotic search strategy to improve the problem that the algorithm is easy to fall into local optimum in the later stage

Method used

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  • Path Planning Method for Mobile Robot Based on Whale Optimization Algorithm
  • Path Planning Method for Mobile Robot Based on Whale Optimization Algorithm
  • Path Planning Method for Mobile Robot Based on Whale Optimization Algorithm

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Embodiment Construction

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0041] see figure 1 , the present invention provides a mobile robot path planning method based on the whale optimization algorithm, comprising the following steps:

[0042] S1, initialize the whale optimization algorithm, set the parameters of the algorithm, set the number of whale populations to N, and set the maximum number of iterations to t max .

[0043] The selected fitness function is:

[0044]

[0045] where X i is the position of the ith whale, n represents the dimension of the individual whale in the search space, (x n ,y n ) represents the coordinates of the nth-dimensional whale individual on the grid map. Similarly, (x n+1 ,,y n+1 ) represents the coordinates of the n+1th dimension whale individual on the grid map. Represents the dimension of the whale population.

[0046]...

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Abstract

The invention discloses a mobile robot path planning method based on a whale optimization algorithm. The method includes steps: S1, initializing the whale optimization algorithm, setting parameters of the algorithm, and using a fitness function to obtain the fitness values ​​of the whale at all positions , and determine the initial individual optimal position and the global optimal position of the whale population; S2, use the new convergence factor, recalculate the coefficient vector, and update the new position of the whale individual; S3, calculate the fitness value of the whale individual at the new position, And compare it with the fitness value of the original position; S4, if the fitness value of the new position is better than the original position fitness value, update the individual best position of the whale population, and update the global optimal position; S5, reach After the number of iterations, select a whale path with the smallest fitness value as the optimal path for mobile robot path planning, otherwise perform step S2‑S4. The invention has high convergence precision and fast convergence speed, and can avoid easily falling into local optimum at the later stage of algorithm iteration.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, in particular to a mobile robot path planning method based on a whale optimization algorithm. Background technique [0002] Mobile robot path planning is an important part of the robot's autonomous navigation system. It mainly solves the problem of "where to go" and "how to go" for robots on the basis of obtaining a priori map of the environment. Its purpose is to find a collision-free safe path from the starting point to the end point according to the evaluation criteria of the shortest distance, the minimum time or the minimum cost on the given environmental map with obstacles. In 2016, Australian scholars Mirjalili et al. abstracted the mathematical models of three behaviors of whales searching, encircling and attacking when they hunted their prey, and proposed a new optimization algorithm based on swarm intelligence, namely the whale optimization algorithm ( Whale Optimization Al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 罗元方继康张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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