We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Path planning of mobile robot based on hybrid improved artificial fish swarm algorithm.
- Authors
Yi Zhang; Yuanhong Hua
- Abstract
The artificial fish swarm algorithm is easy to fall into the local optimum for robot global path planning. A hybrid improved Artificial Fish Swarm Algorithm (HIAFSA) is proposed. Firstly, the sub-optimal path is determined by A* algorithm, and then the adaptive behavior of artificial fish swarm algorithm is improved based on the inertia weight factor, and the attenuation function α is introduced to improve the visual range and moving step length of the artificial fish, balance the global path planning and local path planning, and further improve the convergence speed and quality of the solution. The experimental results show that the hybrid improved artificial fish swarm algorithm has been improved in avoiding local optimum, convergence speed and precision.
- Subjects
ROBOTIC path planning; MOBILE robots; HYBRID systems; STOCHASTIC convergence; STEADY state conduction
- Publication
Vibroengineering Procedia, 2018, Vol 17, p130
- ISSN
2345-0533
- Publication type
Article
- DOI
10.21595/vp.2018.19769