基于改进人工大猩猩部队算法的移动机器人路径规划研究  

Path Planning for Mobile Robot Based on Improved Artificial Gorilla Troops Optimization

作　　者：李春青[1] LI Chunqing(College of Mathematics,Physics and Electronic Information Engineering,Guangxi Minzu Normal University,Chongzuo 532200,China)

机构地区：[1]广西民族师范学院数理与电子信息工程学院,广西崇左532200

出　　处：《软件导刊》2024年第5期60-67,共8页Software Guide

基　　金：广西高校中青年教师科研基础能力提升项目(2022KY0767)。

摘　　要：针对传统人工大猩猩部队优化算法在移动机器人路径规划问题中存在前期全局寻优能力较弱、后期收敛能力不强、容易陷入局部最优等问题,提出一种改进的人工大猩猩部队优化算法。在改进算法中,为提高初始种群质量,采用Logistic混沌映射生成种群;引入新的计算公式改进控制参数W的值,使其随着迭代次数增加而线性增大;融合鱼鹰优化算法的位置更新策略,以增强算法中个体之间交流信息;在算法开发阶段后期,应用莱维飞行策略更新个体位置,以保证算法后期的种群多样性。仿真实验结果表明,与SSA算法、GTO算法和GWO算法相比,改进算法在M1地图环境中得到的平均路径分别缩短了9.72%、6.07%和7.99%;在M2地图环境中得到的平均路径分别缩短了22.04%、44.16%和50.3%,具有明显优势。Aiming at the problems of weak global optimization ability in the early stage,weak convergence ability in the later stage,and easy to fall into local optima in the path planning problem of mobile robots using traditional artificial gorilla troop optimization algorithms,an improved artificial gorilla troop optimization algorithm is proposed.In the improved algorithm,to improve the quality of the initial population,logistic chaotic mapping is used to generate the population;Introduce new calculation formulas to improve the values of control parameters,making them linearly increase with the number of iterations;Integrating the position update strategy of the Osprey Optimization Algorithm to enhance information exchange between individuals in the algorithm;In the later stage of algorithm development,the Levi flight strategy is applied to update individual positions to ensure population diversity in the later stage of the algorithm.The simulation experiment results show that compared with SSA algorithm,GTO algorithm,and GWO algorithm,the improved algorithm reduces the average path obtained in M1 map environment by 9.72%,6.07%,and 7.99%,respectively;The average path obtained in the M2 map environment has been shortened by 22.04%,44.16%,and 50.3%,respectively,showing significant advantages.

关 键 词：人工大猩猩部队优化算法 路径规划 LOGISTIC混沌映射 鱼鹰优化算法 莱维飞行策略 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]