Aiming at the problems of low search efficiency and many redundant points in the global path planning of mobile robots with traditional artificial fish swarm algorithm,an artificial fish swarm algorithm based on bidirectional search strategy was proposed.The algorithm performs global path planning by alternately retrieving paths in both positive and negative directions,which improves the efficiency and convergence speed of the algorithm in path planning.In addition,for the problem of redundant nodes and unnecessary inflection points in the planned path,the path smoothing strategy is introduced to optimize the planned path set.The simulation results show that the improved artificial fish swarm algorithm is better than the traditional artificial fish swarm algorithm in convergence speed and path search efficiency.Finally,the improved algorithm is applied to the actual mobile robot,and the experimental results show that the improved algorithm can effectively solve the global path planning problem of mobile robot.
关键词
移动机器人/路径规划/人工鱼群算法/平滑处理策略
Key words
mobile robot/path planning/artificial fish swarm algorithm/smoothing strategy
维普
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