Smooth path planning method based on whale optimization algorithm

Abstract

According to the whale optimization algorithm-based smooth path planning method provided by the invention, the path length, the curvature and the curvature derivative in an improved WOA optimization curve path are adopted, and a good result is obtained. In the improved WOA algorithm, a Levy flight strategy is introduced to add local disturbance to the algorithm, the diversity of solutions is increased, and local optimum is avoided. And meanwhile, a fractional order expansion equation is introduced, so that each generation of whale individuals is influenced by the positions of the previous generations, and the search capability of the algorithm is further enhanced. In 23 reference functions, the performance of the improved WOA algorithm and other algorithms is tested and compared, and the superiority of the improved WOA algorithm is verified. Finally, analog simulation experiments are carried out in two different maps, a high-order Bezier curve is adopted in a smoothing method, and continuity of the path curvature is guaranteed. Compared with the existing other algorithms, the improved WOA algorithm has the advantages that the performance is obviously improved, and the operation time is shorter.

Description

technical field [0001] The invention relates to the technical field of intelligent computing, in particular to a smooth path planning method based on a whale optimization algorithm. Background technique [0002] More and more surveying and collection tasks are using mobile robots. How to plan paths is one of the important topics in robot research. Scholars have done a lot of research on the autonomous path planning of mobile robots, and there have been a lot of research results so far. From the perspective of the target range, it can be divided into global path planning and local path planning; from the perspective of whether it changes with time, it can be divided into static path planning and dynamic path planning. Since the path planning problem is a traditional NP-hard (NP-Hard) problem, scholars often use evolutionary algorithms to solve related problems. Traditional evolutionary algorithms such as particle swarm algorithm, differential evolution algorithm, genetic al...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of slow speed and low precision of unmanned vehicles when performing static path planning, the present invention provides a mobile robot smooth path planning strategy based on the improved whale algorithm, thereby improving the accuracy and speed of mobile robot curve path planning, Save more time and computing resources, and complete longer field unmanned vehicle operations

Images