Mobile robot path planning method based on chaotic firefly algorithm

A mobile robot, firefly algorithm technology, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve the problems of slow convergence speed, large amount of calculation, easy to fall into local optimum and other problems

Active Publication Date: 2016-11-09
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

Compared with other bio-inspired algorithms, the firefly algorithm (Firefly Algorithm, FA) is relatively simple in theory and implementation, and has certain applications in path planning, such as: Li uses the firefly algorithm and Bezier curve to find the shortest feasible non-conflict path, but the algorithm still has some problems, such as slow convergence, large amount of calculation, poor stability, easy to fall into local optimum, etc.

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  • Mobile robot path planning method based on chaotic firefly algorithm
  • Mobile robot path planning method based on chaotic firefly algorithm
  • Mobile robot path planning method based on chaotic firefly algorithm

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Embodiment Construction

[0033] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0034] Technical scheme of the present invention is as follows:

[0035] The present invention provides a kind of mobile robot path planning method based on chaotic firefly algorithm, it is characterized in that, comprises the following steps:

[0036] S1, determine the mobile robot system cost function. In this embodiment, the cost function of the mobile robot system is expressed as:

[0037] E=ω 1 E. L +ω 2 E. D

[0038] where ω 1 ,ω 2 denote the length coefficient and risk coefficient respectively, and ω 1 +ω 2 =1, the values ​​are ω 1 =0.75,ω 2 =0.25,E L Indicates the feasible path distance of the mobile robot from the starting point to the target point, E D Represents the cost function ...

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Abstract

The invention discloses a mobile robot path planning method based on a chaotic firefly algorithm. The method comprises steps: S1, a mobile robot system cost function is determined; S2, the mobile robot system is initialized to obtain all possible paths; S3, the chaotic firefly algorithm is used for carrying out iterative updating, such as brightness and position updating, on each path; S4, paths after updating are ranked, and the local optimal path is obtained; S5, when iterations are completed, a step 6 is carried out, or otherwise, a step 3 is carried out; S6, an optimal adjustment strategy is used for adjusting the current local optimal path; and S7, a global optimal path is outputted. Thus, the mobile robot can find the optimal path towards a narrow area in a shortest time.

Description

technical field [0001] The invention relates to the field of mobile robot navigation, in particular to a path planning method for a mobile robot based on a chaotic firefly algorithm. Background technique [0002] Path planning is one of the key technologies in mobile robot navigation, and its purpose is to find an optimal collision-free path from the starting position to the target position. With the continuous expansion of the application range of mobile robots, the requirements for path planning technology are getting higher and higher. Some new artificial intelligence (AI) technologies are gradually applied in path planning, especially the swarm intelligence (Swarm Intelligence, SI) technology. For example, Garcia proposed a path planning method based on ant colony heuristics, and proved that this method is suitable for path planning in static and dynamic environments; Gong proposed a path planning method based on multi-objective particle swarm optimization, using adapti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/02
Inventor 罗元庞冬雪张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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