Robot path planning method based on chaotic backward flower pollination algorithm

A technology of path planning and robotics, applied in the direction of instruments, computing, motor vehicles, etc., can solve the problem of low efficiency of path planning, and achieve the effect of enhancing global search capabilities, improving quality, and improving efficiency

Active Publication Date: 2017-12-01
JIANGXI UNIV OF SCI & TECH
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  • Abstract
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Problems solved by technology

[0006] The purpose of the present invention is to provide a robot path planning method based on the chaotic reverse flower pollination algorithm, which overcomes the shortcomings of the traditional flo...

Method used

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  • Robot path planning method based on chaotic backward flower pollination algorithm
  • Robot path planning method based on chaotic backward flower pollination algorithm
  • Robot path planning method based on chaotic backward flower pollination algorithm

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Experimental program
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Embodiment

[0056] Step 1, modeling the environment of the robot path planning area, obtaining a map of the path planning area, and then rasterizing the map;

[0057] Step 2, the user initializes parameters, and the initialization parameters include the number of key nodes of the path D=8, the population size NP=30, the hybridization rate Pcr=0.3, the mutation rate Pmu=0.2, and the scaling factor F=0.5;

[0058] Step 3, input the start point coordinates and end point coordinates of robot path planning;

[0059] Step 4, randomly generate three real numbers ra, rb and rc in the interval [0,1];

[0060] Step 5, make the Lorenz chaotic mapping variable LA=ra, LB=rb and LC=rc;

[0061] Step 6, let the current evolution algebra t=0;

[0062] Step 7, randomly generate the initial population in, is the population P t The i-th individual in , which stores the abscissa and ordinate of the 8 key nodes of the path, express The jth dimension of , the individual subscript i=1,2,...,NP, the d...

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Abstract

The invention discloses a robot path planning method based on a chaotic backward flower pollination algorithm. Key nodes are used for expressing a path of a robot; and the key nodes of the path of the robot are optimized by using a chaotic backward flower pollination algorithm. According to the chaotic backward flower pollination algorithm, a backward learning strategy having a Lorenz chaotic weight is introduced; and a Lorenz chaotic sequence is fused into a crossed pollination operation and a self-pollination operation to enhance the global search ability of the flower pollination algorithm and improve the solution quality. Therefore, the robot path planning efficiency is improved.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a robot path planning method based on a chaotic reverse flower pollination algorithm. Background technique [0002] With the rapid development of science and technology, robots have been widely used in the manufacturing industry, and are increasingly used in construction, search and rescue, safety, underwater exploration, medicine, military, transportation, logistics, services and other fields, such as underwater robots, EOD robots, sweeping robots, etc. Quite a few types of robots need to have the ability to move autonomously in order to complete tasks independently in the working environment, such as household cleaning robots, combat robots, underwater robots, etc., which may be called autonomous mobile robots. To complete tasks in the environment, an autonomous mobile robot must have path planning capabilities, which is a necessary condition for its autonomous action. In o...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06N3/00
CPCG05D1/0217G05D2201/0217G06N3/006
Inventor 尹宝勇郭肇禄王洋刘建生鄢化彪邓志娟
Owner JIANGXI UNIV OF SCI & TECH
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