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Mobile robot path planning method based on improved butterfly optimization algorithm

A mobile robot and optimization algorithm technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems affecting the optimization efficiency, robot false death, unfavorable mobile robot walking, etc., to improve the global search capacity, quality improvement

Active Publication Date: 2021-08-06
江苏南大电子信息技术股份有限公司
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the butterfly optimization algorithm still has some problems in the path optimization process: invalid paths are generated, which affects the optimization efficiency; there is no subsequent expansion node in the optimization process, resulting in a "fake death" state of the robot; the path at the turning point is not smooth enough, which is not conducive to movement robot walking

Method used

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  • Mobile robot path planning method based on improved butterfly optimization algorithm
  • Mobile robot path planning method based on improved butterfly optimization algorithm
  • Mobile robot path planning method based on improved butterfly optimization algorithm

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Embodiment

[0062] In order to verify the effectiveness and feasibility of the present invention, a grid working environment of 20 × 20 is established using the grid method, and the path searched by the improved butterfly optimization algorithm of the present invention and the ant colony algorithm and the genetic algorithm are respectively simulated under the same conditions experiment, the results of which are figure 2 and image 3 shown.

[0063] Through the comparison and analysis of simulation experiments, it can be seen that the present invention can effectively solve the path planning problem of mobile robots, and compared with the paths generated by ant colony algorithm and genetic algorithm, the present invention has faster path optimization speed, better stability, The efficiency is higher, and the quality of the obtained solution is better. It is an effective and feasible path planning algorithm.

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Abstract

The invention discloses a mobile robot path planning method based on an improved butterfly optimization algorithm. The method comprises the following steps: modeling a working space of a mobile robot by using a grid method; setting initial parameters of a butterfly optimization algorithm; setting an initial position and a target position of an algorithm; searching an optimal path, initializing a taboo table and adding the taboo table into a butterfly starting position; calculating the intensity of fragrance generated at the current position of each butterfly, searching a subsequent transfer node by using the transfer probability, and stopping searching until the butterfly reaches the target position; judging whether the number of iterations of the algorithm reaches the maximum value or not, if yes, retaining the shortest path, and if not, continuing to perform path optimization until the optimal path is searched; smoothing the searched path, and outputting a smooth path; and enabling a simulation experiment to verify that the method can solve the problem of path planning of the mobile robot, and is an effective and feasible optimization algorithm.

Description

technical field [0001] The invention relates to the field of path planning of a mobile robot, in particular to a path planning method of a mobile robot based on a butterfly optimization algorithm. Background technique [0002] In recent years, path planning has become more and more important in the field of robotics. It mainly solves the problem of planning a collision-free path from the starting point to the target point for the robot in a known or unknown environment. At present, path planning is mainly studied in depth from two aspects: global path planning and local path planning. The research of global path planning is to achieve the shortest distance, the shortest time and the lowest energy consumption for the robot to reach the target position from the initial position on the basis of no collision. Common global path planning algorithms include A* algorithm, Dijkstra algorithm, particle swarm algorithm and ant colony algorithm. The research of local path planning is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 马小陆梅宏谭毅波王兵唐得志
Owner 江苏南大电子信息技术股份有限公司
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