郑州大学学报（工学版）2024，Vol.45Issue(3)：55-63,9.DOI:10.13705/j.issn.1671-6833.2024.03.007
基于改进人工鱼群算法的蠕虫机器人路径规划
New Grid Map Path Planning Based on Improved Artificial Fish Swarm Algorithm
摘要
Abstract
Aiming at the problems of long paths,low accuracy and prone to local optima of the artificial fish swarm algorithm in robot path planning,an improved artificial fish swarm algorithm was proposed,which aimed to improve the efficiency and accuracy of the algorithm.An improved artificial fish swarm algorithm aimed at improving algo-rithm efficiency and accuracy was proposed in this study.Firstly,an optimization cycle was added to the algorithm's foraging behavior to reduce the randomness of the algorithm's selection of location points in path plan-ning,enabling the robot to move towards the target point faster.Then,the tabu search algorithm was integrated,and the tabu table was introduced to record the path where the algorithm might fall into the local optimum,so that the algorithm can avoid the local optimum region when selecting new location points,and could avoid the algorithm's local excessive cycle.At the same time,it could optimize the planned path,delete the paths between duplicate grid points,and ensure that there would be no duplicate grid points in the path.When the improved arti-ficial fish swarm algorithm was applied to a new type of 3D raster map,simulation experiments showed that com-pared to other comparative algorithms,the average path length obtained by improving the artificial fish swarm algo-rithm in maps 1,2 and 3 was reduced by 10%,15%and 30%,respectively,and the success rate of path planning in complex maps was increased by 75%.关键词
蠕虫机器人/人工鱼群算法/路径规划/禁忌搜索/栅格地图Key words
worm robots/artificial fish swarm algorithm/path planning/tabu search/grid map分类
信息技术与安全科学引用本文复制引用
姜晓东,任奕辰,朱晓东..基于改进人工鱼群算法的蠕虫机器人路径规划[J].郑州大学学报（工学版）,2024,45(3):55-63,9.基金项目
国家科学自然基金资助项目(61806179) （61806179）
