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A robot path planning method based on spider colony algorithm

A path planning and robotics technology, applied in instruments, two-dimensional position/channel control, vehicle position/route/altitude control, etc., it can solve the problems of poor convergence speed and poor search ability of SSO algorithm, so as to improve the convergence speed and The effect of search accuracy, strong execution, and excellent convergence accuracy

Active Publication Date: 2019-04-12
黎建军
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Problems solved by technology

The convergence speed and search ability of the current SSO algorithm are not good

Method used

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  • A robot path planning method based on spider colony algorithm
  • A robot path planning method based on spider colony algorithm
  • A robot path planning method based on spider colony algorithm

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] like figure 1Shown, the robot path planning method of a kind of spider colony algorithm of the present invention comprises the following steps:

[0048] Step 1: Use the grid method to model the map environment, and set the starting node, target node, and obstacles;

[0049] Step 2: Initialize the basic parameters of the spider colony algorithm, including the population number N, the mating radius r, the maximum number of iterations T, and the minimum fitness value;

[0050] Step 3: randomly assign the initial spider population, and determine the current fitness value of each spider according to the fitness function;

[0051] Step 4: The spider population completes the cooperation process according to the learning strategy of the spider colony algorithm, generates new spider individuals, selects the better individuals in the new and old spider p...

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Abstract

The invention discloses a robot path planning method based on spider colony algorithm, comprising of: modeling the map environment by the grid method; initializing the basic parameters of the spider colony algorithm; randomly assigning the initial spider colony; the spider colony completing the collaborative process according to the learning strategy of the spider colony algorithm; outputting fitness value and determining whether the fitness value is less than the set minimum fitness value; and outputting a shortest path and a length. The invention optimizes the neighborhood search and the global search by introducing the inertia weight and the learning factor, and increases the interaction between the inertia weight and the learning factor to balance the global search and local development capabilities of the method. The improved method has more stable convergence results, improves convergence speed and search accuracy, and palns the best shortest path.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to a robot path planning method based on a spider colony algorithm. Background technique [0002] Path planning is one of the important fields of mobile robot research, and its advantages and disadvantages directly affect the interaction ability between the robot and the surrounding environment during the course of action. Generally speaking, the path planning problem can be described as: Given an environment with obstacles, the robot can autonomously find a path from the starting point to the goal point, which can avoid all obstacles safely and without collision. The shortest length. Since path planning can be regarded as an optimization problem in essence, intelligent optimization algorithms such as genetic algorithm, particle swarm optimization, artificial immunity, and ant colony algorithm with global optimization capabilities and implicit parallel computing characteristics play ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276
Inventor 黎建军李保保
Owner 黎建军
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