重庆理工大学学报2024，Vol.38Issue(1)：355-367,13.DOI:10.3969/j.issn.1674-8425(z).2024.01.039
改进海洋捕食者算法的机器人路径规划研究
Robot path planning research with improved marine predator algorithm
摘要
Abstract
This paper proposes a multi-strategy Improved Marine Predator Algorithm(IMPA)to address the Marine Predator Algorithm's(MPA)problems of slow convergence,low convergence accuracy,and tendency to fall into local optimum.The proposed algorithm introduces a logistic chaotic mapping to initialize the population and increase the diversity of the predator population;an adaptive moving step dynamic adjustment strategy based on the current iteration number t enhances the ability of the algorithm to escape from local optimum;a mid-pipeline algorithm(MA)is added in the late iteration of IMPA,and a free particle position update method based on the mid-pipeline strategy accelerates the position update of the predator and enhances the algorithm's accuracy and optimization search speed,avoiding falling into local optimum.Finally,the search process is further balanced and the global and local adaptability is enhanced by changing the IMPA stage to transform the search process.Six benchmark test functions are selected to test the performance of the algorithm.Our test results show IMPA converges faster and achieves a higher convergence accuracy.Finally,the improved algorithm is applied in mobile robot path planning,and the simulation results show the algorithm plans a shorter path and achieves a higher search efficiency.关键词
混沌映射/中垂线算法/移动步长/游离粒子/路径规划Key words
chaotic mapping/vertical algorithm/moving step/free particle/path planning分类
信息技术与安全科学引用本文复制引用
黄训爱,杨光永,樊康生,徐天奇..改进海洋捕食者算法的机器人路径规划研究[J].重庆理工大学学报,2024,38(1):355-367,13.基金项目
国家自然科学基金项目(61761049,61261022) （61761049,61261022）
云南省教育厅科学研究基金项目(2023Y0502) （2023Y0502）
云南民族大学硕士研究生科研创新基金项目(2022SKY006) （2022SKY006）
