四川轻化工大学学报（自然科学版）2025，Vol.38Issue(4)：40-47,8.DOI:10.11863/j.suse.2025.04.05
基于改进蜣螂算法和DWA的避障路径规划
Obstacle Avoidance Path Planning Based on Improved Dung Beetle Algorithm and DWA
摘要
Abstract
Aiming at the disadvantages of Dung Beetle Optimizer(DBO),such as insufficient local exploration ability,unsmooth path planning and poor dynamic obstacle avoidance ability,an obstacle avoidance path planning algorithm has been proposed based on the DBO and Dynamic Window Approach(DWA)method.Firstly,to solve the problem of insufficient local exploration ability of DBO,Tent chaotic mapping is introduced to initialize the population,and Gold Sine Algorithm(GOLD-SA)is used to introduce nonlinear weights to optimize the position update of dung beetles.Then,the redundant nodes in the planned path are deleted,and the optimized DBO and DWA are integrated to solve the shortcomings of DBO algorithm,and simulation experiments are carried out.The experimental results show that the number of turns,the shortest path and the number of iterations of the improved DBO is reduced by 40.0%,3.3%and 92.0%,respectively,compared with other algorithms,and the performances of the algorithm are obviously optimized.The improved DWO integrated with and DWA algorithm can avoid unknown and dynamic obstacles,avoiding static obstacles at the same time,and the planned route is relatively smooth,which improves the operation efficiency and safety of the robot.关键词
路径规划/蜣螂优化算法/Tent混沌映射/黄金正弦算法/动态窗口算法/机器人Key words
path planning/Dung Beetle Optimizer/Tent chaotic mapping/Gold Sine Algorithm/Dynamic Window Approach/robot分类
信息技术与安全科学引用本文复制引用
范县成,凌新宇,朱国武,汤巍..基于改进蜣螂算法和DWA的避障路径规划[J].四川轻化工大学学报（自然科学版）,2025,38(4):40-47,8.基金项目
安徽省高等学校省级自然科学研究计划项目(2024AH050637) （2024AH050637）
