基于改进哈里斯鹰优化算法的动态路径规划研究  

Research on Dynamic Path Planning Based on Improved Harris Hawk Algorithm

作　　者：胡啸[1] 张呈越 卞炜 王健安[1] 董朋涛 HU Xiao;ZHANG Chengyue;BIAN Wei;WANG Jian’an;DONG Pengtao(Shanxi Key Laboratory of Advanced Control and Equipment Intelligence,School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Syntec Technology(Suzhou)Co.,Ltd.,Suzhou 215000,China;Shanxi Jianbang Group Tongcai Industry and Trade Co.,Ltd.,Linfen 043400,China)

机构地区：[1]太原科技大学电子信息工程学院先进控制与装备智能化山西省重点实验室,山西太原030024 [2]新代科技(苏州)有限公司,江苏苏州215000 [3]山西建邦集团通才工贸有限公司,山西临汾043400

出　　处：《控制工程》2024年第4期591-600,共10页Control Engineering of China

基　　金：山西省重点研发计划项目(202102020101005);山西省高等学校科技创新项目(2020L0343)。

摘　　要：针对传统栅格地图下的路径规划算法存在多峰值优化、无法实时避障等问题,提出了一种基于改进哈里斯鹰优化算法的动态路径规划方法。首先,提出方形邻格邻近扩散方法初始化哈里斯鹰种群位置,在路径规划问题模型下增加种群多样性;然后,提出一种非线性能量因子优化算法在搜索和开发之间的更新比例,提高全局搜索性能;最后,引入动态窗口法提高机器人实际运行路径的平滑程度,构造结合全局路径的动态窗口评价函数以改善动态窗口法前瞻性不足的问题。实验结果表明,所提方法可以兼顾实时避障和路径最优的需求。A dynamic path planning method based on improved Harris hawk optimization algorithm is proposed to address the problems of multi-peak optimization and real-time obstacle avoidance in traditional grid-based path planning algorithms.Firstly,a square neighbor lattice neighborhood diffusion method is proposed to initialize the position of the Harris hawk population and increase the population diversity in the path planning problem model.Then,a nonlinear energy factor is proposed to optimize the update ratio of the algorithm between search and development to improve the global search performance.Finally,the dynamic window approach is introduced to improve the smoothness of the robot’s actual running path,and a dynamic window evaluation function combined with the global path is constructed to make up for the lack of foresight in the dynamic window approach.The experimental results show that the proposed method can meet the requirements of real-time obstacle avoidance and path optimization.

关 键 词：路径规划 改进哈里斯鹰优化算法 动态窗口法 实时避障 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]