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Path planning method based on grey wolf algorithm

A technology of path planning and gray wolf, applied in calculation, calculation model, instrument, etc., can solve problems such as unsatisfactory performance, reduce the potential influence of human factors, improve optimization ability, improve reliability and effectiveness Effect

Pending Publication Date: 2020-01-10
NORTHEASTERN UNIV LIAONING
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Problems solved by technology

Although the gray wolf algorithm shows a good application effect in the continuous space, when dealing with the TSP problem, the performance in the discrete space is not very satisfactory.

Method used

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  • Path planning method based on grey wolf algorithm
  • Path planning method based on grey wolf algorithm
  • Path planning method based on grey wolf algorithm

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Embodiment Construction

[0039] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

[0040] Such as figure 1 A path planning method based on the gray wolf algorithm is shown, which specifically includes the following steps: initialize the parameters of the algorithm, set the maximum number of iterations; record the geographical location information of the city, and obtain the distance between any two cities; use the greedy algorithm Generate the initial population, and use the representation of the set to describe; calculate the fitness value of the solution, and select α wolf, β wolf, δ wolf and ω wolf according to the fitness value; update the current position and position of each ω wolf according to the redefined formula Its fitness value; select new α wolf, β wolf and δ ...

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Abstract

The invention discloses a path planning method based on a grey wolf algorithm, and the method comprises the following steps of S1, obtaining the geographic position information of each city, calculating the distance between any two cities, and constructing a graph G (V, E); S2, setting the maximum number of iterations, and initializing the current number of iterations to be 1; S3, describing a plurality of initial solutions of a TSP problem according to the representation form of the set; S4, calculating the adaptive values of the initial solutions; S5, updating the current position and the adaptive value of each grey wolf; S6, operating according to the updated adaptive value of the grey wolf solution; s7, updating the number of iterations, and adding 1 to the current number of iterations; S8, judging whether the algorithm reaches a termination condition or not, if the algorithm does not meet the termination condition, skipping to S5 to continue, and if the algorithm reaches the termination condition, continuing the subsequent steps; and S9, defining the position of the alpha wolf as an optimal solution meeting the termination condition, wherein the position of the alpha wolf is an optimal path, and the adaptive value of the alpha wolf is a path value.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a path planning method based on a gray wolf algorithm. Background technique [0002] The Traveling Salesman Problem (TSP) is a classic problem in the field of computer science, and it is also an optimization problem often encountered in the field of science and engineering, such as vehicle scheduling in logistics distribution, construction of underground road networks, and urban underground passages. Construction, industrial cutting path planning, etc. can be solved by converting them into TSP problems. Therefore, it is of high practical application value to study the solution algorithm of TSP problem so that it can quickly find an effective solution. [0003] The TSP problem is described as: a traveling salesman needs to visit N cities, can start from any city, and visit each city only once, and finally returns to the starting city, he wants to know how to arrange the rou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06N3/00
CPCG06N3/006G06Q10/047
Inventor 李延柯原慧琳
Owner NORTHEASTERN UNIV LIAONING
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