多策略融合改进雪消融优化算法的机器人路径规划

Multi-strategy fusion-enhanced snow ablation optimization algorithm for robot path planning

  • 摘要: 针对雪消融优化算法在移动机器人路径规划中存在的初始种群质量不足、易陷入局部最优以及路径平滑性较差等问题,提出了一种多策略改进的雪消融优化算法(multi-strategy iImproved snow ablation optimizer,MISAO)。通过引入自适应分布引导的种群初始化策略、Levy飞行驱动的全局扰动机制以及自适应弹性边界映射方法,有效增强了算法的全局搜索能力和收敛稳定性。在 IEEE CEC2017 基准测试函数上的实验结果表明,与原始SAO相比,MISAO的平均寻优精度提升了约42.38%,与其他几种对比算法相比,MISAO的平均寻优性能提升约44.02%,并在大多数测试函数上取得更小的标准差,验证了其优异的寻优能力和稳定性。进一步将MISAO应用于机器人路径规划问题,实验结果表明,与7种对比算法相比,MISAO规划路径的平均长度降低约22.6%,表明其能够获得更短、更平滑且更稳定的可行路径,验证了其有效性与工程应用潜力。

     

    Abstract: To address the problems of insufficient initial population quality, susceptibility to local optima, and poor path smoothness in mobile robot path planning using the snow ablation optimization algorithm (SAO), a multi-strategy improved snow ablation optimization algorithm (MISAO) was proposed. By introducing an adaptive distribution-guided population initialization strategy, a Levy flight-driven global perturbation mechanism, and an adaptive elastic boundary mapping method, the algorithm's global search capability and convergence stability are effectively enhanced. Experimental results on the IEEE CEC2017 benchmark function show that compared with the original SAO, MISAO improves the average optimization accuracy by approximately 42.38%, and compared with several other comparative algorithms, MISAO improves the average optimization performance by approximately 60%, achieving a smaller standard deviation on most test functions, verifying its excellent optimization ability and stability. Furthermore, when applied to the robot path planning problem, experimental results show that compared with seven algorithms, the average length of the path planned by MISAO is reduced by approximately 22.6%, indicating that it can obtain shorter, smoother, and more stable feasible paths and verifying its effectiveness and engineering application potential.

     

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