河北水利电力学院学报2025，Vol.35Issue(4)：33-39,7.DOI:10.16046/j.cnki.issn2096-5680.2025.04.006
基于改进蚁狮算法的机器人路径规划
Robot Path Planning Based on Improved Ant Lion Optimizer
摘要
Abstract
Aiming at the problems of Ant Lion Optimizer(ALO),such as relying on the initial popu-lation,slow convergence speed and easy to fall into the local optima,an improved ant lion path planning algorithm is proposed.Firstly,the Cat chaotic mapping function is used to initialize the population and in-crease the population diversity as a way to enhance the ability of the population to explore the global envi-ronment.Secondly,adaptive dynamic weights are introduced to adjust the ants'random wandering way to reduce the possibility of falling into the local optimal solution,and adaptive coefficients are introduced to improve the influence of ant lions on the ants'random wandering.Then,different grid maps are designed,and the improved ant lion algorithm is compared with multiple intelligent algorithms for path planning simulation in grid maps to verify the superiority of the algorithm.Finally,the paths planned by the im-proved ant lion algorithm are smoothed with B-spline curves to improve the safety and stability of robot motion.The experimental results show that the improved algorithm reduces 21.81%,87.04%and 53.85%in the shortest path,the number of iterations and the number of turns respectively compared with the partial algorithms,and the improved ant lion algorithm has a better performance in the path planning problem with faster convergence and better optimization-seeking ability.关键词
蚁狮算法/Cat混沌映射/路径规划/B样条曲线Key words
Antlion algorithm/Cat chaotic mapping/path planning/B-spline curve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,黄洪斌,朱国武..基于改进蚁狮算法的机器人路径规划[J].河北水利电力学院学报,2025,35(4):33-39,7.基金项目
安徽省高等学校省级自然科学研究计划项目(2023AH052918、2024AH050637) （2023AH052918、2024AH050637）
