机械科学与技术2023，Vol.42Issue(12)：2085-2092,8.DOI:10.13433/j.cnki.1003-8728.20220160
蝴蝶优化算法的移动机器人全局路径规划研究
Research on Global Path Planning for Mobile Robot with Improved Butterfly Optimization Algorithm
摘要
Abstract
An improved butterfly optimization algorithm is proposed for mobile robot path planning.Firstly,the butterfly optimization algorithm is combined with the grid method,and the combined algorithm is explained in detail.Secondly,the tabu list and backtracking method are introduced to solve the problem that the algorithm has no subsequent extension nodes in the path optimization.Finally,combined with cubic B-spline curve,the optimal node in the path planning is taken as the control point for smooth output,which makes the actual motion path of mobile robot smoother.Through the simulation experiment,the improved algorithm is compared with ant colony algorithm and genetic algorithm,theresult proves that the improved algorithm can effectively solve the path planning problem,and is an effective and feasible optimization algorithm.Finally,the improved algorithm is applied to the actual mobile robot based on ROS.The experimental results also prove the effectiveness and feasibility of the improved algorithm.关键词
移动机器人/路径规划/蝴蝶优化算法/栅格法/三次B样条曲线Key words
mobile robot/path planning/butterfly optimization algorithm/grid method/cubic B-spline curve分类
信息技术与安全科学引用本文复制引用
马小陆,梅宏,谭毅波,龚瑞,王兵..蝴蝶优化算法的移动机器人全局路径规划研究[J].机械科学与技术,2023,42(12):2085-2092,8.基金项目
国家自然科学基金项目(61472282)、安徽省科技重大专项(202003a05020028)、安徽高校自然科学研究重点项目(KJ2019A0065)、安徽省重点研究开发计划项目(202004a0502001)及特种重载机器人安徽省重点实验室开放课题(TZJQR004-2020) （61472282）
