路径规划问题的多策略改进樽海鞘群算法研究  

Study on Multi-strategy Improved Salp Swarm Algorithm for Path Planning Problem

作　　者：赵宏伟[1] 董昌林 丁兵如 柴海龙 潘志伟 ZHAO Hongwei;DONG Changlin;DING Bingru;CHAI Hailong;PAN Zhiwei(School of Information Engineering,Shenyang University,Shenyang 110044,China)

机构地区：[1]沈阳大学信息工程学院,沈阳110044

出　　处：《计算机科学》2024年第S01期190-198,共9页Computer Science

基　　金：国家自然科学基金(71672117);中国博士后科学基金(2019M651142)。

摘　　要：针对移动机器人寻找最优路径问题,提出了一种融合无标度网络、自适应权重和黄金正弦算法变异策略的樽海鞘群算法BAGSSA(Adaptive Salp Swarm Algorithm with Scale-free of BA Network and Golden Sine)。首先,生成一个无标度网络来映射跟随者的关系,增强算法全局寻优的能力,在追随者进化过程中集成自适应权重ω,以实现算法探索和开发的平衡;同时选用黄金正弦算法变异进一步提高解的精度。其次,对12个基准函数进行仿真求解,实验数据表明平均值、标准差、Wilcoxon检验和收敛曲线均优于基本樽海鞘群和其他群体智能算法,证明了所提算法具有较高的寻优精度和收敛速度。最后,将BAGSSA应用于移动机器人路径规划问题中,并在两种测试环境中进行仿真实验,仿真结果表明,改进樽海鞘群算法较其他算法所寻路径更优,并具有一定理论与实际应用价值。Aiming at the problem of finding the optimal path for mobile robots,a salp swarm algorithm BAGSSA(adaptive salp swarm algorithm with scale-free of BA network and golden sine algorithm)combining scale-free network,adaptive inertia weight and golden sine algorithm mutation strategy is proposed.First,a scale-free topology network is generated to map the relationship of followers,so as to enhance the global optimization ability of the algorithm;and the adaptive inertia weight is introduced in the followers to form a spontaneous adjustment to the overall distribution of the population and enhance the ability of local optimization.The variation of the golden sine algorithm is selected to further improve the accuracy of the solution.Secondly,through the simulation solution of 12 benchmark functions,experimental data show that the average value,standard deviation,Wilcoxon test and convergence curve are better than that ofthe standard SSA and other swarm intelligence algorithms.The proposed algorithmhas higher optimization accuracy and convergence speed.Finally,BAGSSA is applied to the path planning problem of mobile robots,and simulation experiments are carried out in two test environments.Simulation results show that the improved salp swarm algorithm is better than other algorithms in finding the path,and has certain theoretical and practical application value.

关 键 词：樽海鞘群算法 无标度网络 自适应权重 黄金正弦算法 路径规划 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]