Aiming at the problems of slow search speed,low precision of optimization and easy to get into local optimality of cha-meleon swarm algorithm in solving mobile robot path planning,a fractional order chameleon swarm algorithm was proposed.First-ly,Tent chaotic mapping was used during initialization to enrich the population diversity and to improve the global search ability of the algorithm.Secondly,fractional order was added to change the tongue speed updating formula of chameleon when attacking prey to avoid the algorithm falling into local optimal while accelerating the convergence rate of the algorithm.Finally,cubic B-spline curve was used to smooth the path to improve the smoothness of the actual path of the mobile robot.The simulation results showed that the improved chameleon swarm algorithm converged faster than other algorithms,and could avoid obstacles and find the optimal path.
关键词
移动机器人/路径规划/变色龙群算法/分数阶/三次B样条曲线
Key words
mobile robot/path planning/chameleon swarm algorithm/fractional order/cubic B-spline curve
维普
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