Robot path planning method based on improved fireworks explosion algorithm

A technology for path planning and firework explosion, applied in the field of robot path planning based on improved firework explosion algorithm, which can solve the problems of immature development period and low efficiency of robot path planning.

Active Publication Date: 2019-08-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Claims
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Problems solved by technology

Commonly used intelligent algorithms include genetic algorithm, particle swarm algorithm, ant colony algorithm, neural network algorithm, etc. Although these algorithms can solve the robot path planning problem, they are still in an immature development period, and there is a problem of low robot path planning efficiency.

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  • Robot path planning method based on improved fireworks explosion algorithm
  • Robot path planning method based on improved fireworks explosion algorithm
  • Robot path planning method based on improved fireworks explosion algorithm

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Embodiment Construction

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0065] The purpose of the present invention is to provide an efficient robot path planning method based on the improved fireworks explosion algorithm.

[0066] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0067] figure 1 The flow chart of the robot path planning m...

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Abstract

The invention discloses a robot path planning method based on an improved fireworks explosion algorithm. The method comprises the steps of initializing a fireworks population, and generating multiplepaths of a robot from an origin to a destination; performing mutation operation on the fireworks population; moving each fireworks path to the position of a first optimal fireworks path according to acrossover probability; mapping the fireworks paths covering infeasible regions; selecting a second optical fireworks path; judging whether a current iteration number reaches the maximum, and if yes,outputting the second optical fireworks path; and otherwise, further selecting the N-1 fireworks paths from the mapped fireworks population for explosion, generating the new path of the robot from theorigin to the destination, and thus acquiring the next generation fireworks population. Through defining the crossover probability, each fireworks path has a certain probability of being crossed withthe optimal fireworks path, and moves to the position of the optimal fireworks path, the convergence speed is improved, the robot path planning speed is improved, and the path planning efficiency isimproved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a robot path planning method based on an improved fireworks explosion algorithm. Background technique [0002] At present, there are two types of methods for path planning of mobile robots: traditional algorithms and intelligent algorithms. Traditional algorithms include free space method, visualization method, grid method and so on. With the deepening of the research, it is found that the traditional algorithms have certain limitations. For example, the grid method is to divide the robot's motion space into grids of the same size, and then plan the path. However, the division of the grid is directly related to the accuracy of the actual environment, which is a difficult decision. [0003] In recent years, with the gradual development and application of intelligent algorithms, new solutions have been provided for path planning. Commonly used intelligent algorithms in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276
Inventor 董宁张少攀路平立刘向东
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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