Research On Path Planning Method Of Mobile Robot Based On Algorithm Fusio

Path planning is one of the important research contents in the field of mobile robot.Currently,most studies on path planning are based on static environment.But in many cases,mobile robot need to perform tasks in dynamic environment.Therefore,path planning of mobile robot in dynamic environment become a hot and difficult topic in the field of mobile robotics.In view of this,a new path planning algorithm for single mobile robot is proposed by improving the firefly algorithm of global path planning,and integrating it with the dynamic window method of local path planning.The next step is to extend it to multi-mobile robots.The primary focus of this paper is the following research topics:(1)Aiming at the shortcomings of firefly algorithm such as slow convergence speed and easy to fall into local optimum,a global path planning method based on improved firefly algorithm is proposed.In this paper,the firefly algorithm is improved from three aspects.The firefly population is initialized by Skew Tent chaotic mapping to enhance the diversity of firefly population.The fixed step size is changed to the global and local optimization of the adaptive step size balancing firefly algorithm.And,the differential evolution algorithm is introduced to enhance the search ability of firefly algorithm through mutation,crossover and selection operations.The effectiveness of the proposed algorithm for path planning is verified by simulation.(2)Aiming at the problems that the firefly algorithm cannot effectively avoid unknown obstacles and the path planning is not smooth enough,a local path planning method based on improved firefly algorithm and dynamic window approach is proposed.In this paper,the improved firefly algorithm of global path planning is combined with the dynamic window approach of local path planning,so that the mobile robot can carry out real-time dynamic path planning on the basis of the global optimal path,which not only ensures the mobile robot can effectively avoid unknown obstacles,but also improves the smoothness of the path.The effectiveness of the fusion algorithm for mobile robot path planning is verified by simulation.(3)The fusion algorithm is extended to the path planning of multi-mobile robots,a path planning method for multi-mobile robots based on fusion algorithm is proposed.Firstly,the path planning process of multi-mobile robots was decomposed,that is,the improved firefly algorithm was used to plan the global path of each mobile robot in the multi-mobile robots system,and then the local path of each mobile robot was planned according to the global path combined with the fusion algorithm.Then,the conflict types of multi-mobile robots are predicted,and the collision resolution mechanism of multi-mobile robots is developed according to different conflict types.Meanwhile,a multi-mobile robots priority strategy is designed.Finally,Simulation has verified the efficacy of the fusion algorithm in multi-mobile robots path planning.