Research on Moving Path Optimization of Human Motion Robots Based on FA-DWA Fusion Algorithm
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.
mobile robotspath planningfirefly algorithmdynamic window algorithm
万方数据
维普
