东南大学学报（英文版）2025，Vol.41Issue(2)：244-251,8.DOI:10.3969/j.issn.1003-7985.2025.02.014
基于两阶段DE算法的机器人路径规划及应用
Robot path planning based on a two-stage DE algorithm and applications
摘要
Abstract
To tackle the path planning problem,this study in-troduced a novel algorithm called two-stage parameter adjustment-based differential evolution(TPADE).This al-gorithm draws inspiration from group behavior to implement a two-stage scaling factor variation strategy.In the initial phase,it adapts according to environmental complexity.In the following phase,it combines individual and global expe-riences to fine-tune the orientation factor,effectively im-proving its global search capability.Furthermore,this study developed a new population update method,ensuring that well-adapted individuals are retained,which enhances popu-lation diversity.In benchmark function tests across different dimensions,the proposed algorithm consistently demon-strates superior convergence accuracy and speed.This study also tested the TPADE algorithm in path planning simula-tions.The experimental results reveal that the TPADE algo-rithm outperforms existing algorithms by achieving path lengths of 28.527 138 and 31.963 990 in simple and com-plex map environments,respectively.These findings indi-cate that the proposed algorithm is more adaptive and effi-cient in path planning.关键词
路径规划/差分进化算法/网格法/参数自适应调整Key words
path planning/differential evolution algorithm/grid method/parameter adaptive adjustment分类
信息技术与安全科学引用本文复制引用
孙哲,程佳佳,毕云蕊,张旭,孙知信..基于两阶段DE算法的机器人路径规划及应用[J].东南大学学报（英文版）,2025,41(2):244-251,8.基金项目
The National Natural Science Foundation of China(No.62272239,62303214) （No.62272239,62303214）
Jiangsu Agricultural Science and Tech-nology Independent Innovation Fund(No.SJ222051). （No.SJ222051）
