Hierarchical particle swarm path planning method and electronic device

Abstract

The present application relates to the technical field of path planning, and particularly relates to a hierarchical particle swarm path planning method and an electronic device. The method comprises the following steps: constructing a fitness function of path planning of a mobile device; initializing a particle swarm population, each particle comprising a particle position and a particle velocity, the particle position being used for encoding a candidate path composed of multiple intermediate path point coordinates; performing multiple iterations of optimization, in each iteration, judging whether the population evolution is stagnant, in the case of stagnant population evolution, dividing the population into multiple sub-populations, and respectively performing different evolution strategies on each sub-population; and after the iterations, determining an optimal path based on a path encoded by a global optimal position. In the case of stagnant population evolution, the population is dynamically divided into multiple sub-populations, and different evolution strategies are respectively designed, thereby effectively solving the problem of premature convergence of the traditional PSO.

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