To further improve the quality of path planning for mobile robots,a path planning method for mobile robots is proposed based on an improved firefly algorithm combined with the dynamic window(iFA-DWA)algorithm.Among them,the global path planning algorithm based on the firefly algorithm is further improved,and the dynamic window algorithm is used as the local path plan-ning algorithm.Finally,the two algorithms are fused to further improve the quality of path planning.The experimental results show that compared with traditional global path planning algorithms,the iFA-DWA fusion algorithm can obtain better mobile paths,shorter path lengths,and better overall planning effects;In actual path planning tests,the path planning method based on the iFA-DWA fu-sion algorithm has the best planned path quality,shorter algorithm running time,and can effectively avoid unknown obstacles in the path.Overall,the path planning method based on the iFA-DWA fusion algorithm has good performance and can perform high-quality path planning.When applied to the path planning of mobile robots,it can effectively optimize the movement process and has high fea-sibility.
关键词
人体运动机器人/路径规划/萤火虫算法/动态窗口算法
Key words
mobile robots/path planning/firefly algorithm/dynamic window algorithm
维普
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