Route planning method based on multi-target glowworm swarm algorithm

A firefly algorithm and path planning technology, applied in the field of path planning, can solve problems such as not considering the performance index of path planning problems, being unable to compare optimal paths, and not conforming to the essence of multi-objective optimization problems, so as to meet actual needs and be flexible sexual effect
CN102768536AActive Publication Date: 2012-11-07哈尔滨哈船导航技术有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
哈尔滨哈船导航技术有限公司
Publication Date
2012-11-07

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Abstract

The invention provides a route planning method based on a multi-target glowworm swarm algorithm and belongs to the technical field of route planning. The method includes: modeling a route planning problem, initializing the multi-target glowworm swarm algorithm, updating the glowworm position, determining a non-inferior solution set, updating an external archived file, judging whether a preset maximum iteration number is achieved or not, and determining a Pareto optimal route. The basic glowworm swarm algorithm is improved based on the Pareto dominant conception, and global searching and parallel computing capacities of the glowworm swarm algorithm are well used. Multiple route performance indexes are considered simultaneously during planning, a group of Pareto optimal solution sets can be obtained by planning once, and high flexibility is achieved. Further, the route panning method is different from traditional route planning methods for a single target and route planning methods of using a weighing method to convert multiple targets into the single target, and can better meet practical requirements of route planning.
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Description

technical field

[0001] The invention belongs to the technical field of path planning, and in particular relates to a path planning method based on a multi-objective firefly algorithm. Background technique

[0002] Path planning is one of the core technologies for robots to realize autonomous navigation. Mobile robot path planning is to seek a movement trajectory of a mobile robot that connects the starting point to the end point and can avoid obstacles in the environment according to certain task requirements (the shortest path, the least consumption or the shortest use time, etc.), that is, optimal or suboptimal valid path. Traditional path planning usually only considers the optimization of a single measurement criterion, and finds an optimal path to the target state in the decision space according to an optimization criterion. However, in practical applications, it is usually necessary to simultaneously optimize multiple factors, such as path length, smoothness, robot e...

Claims

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