Improved Whale Optimization Algorithm Based on Fusion Gravity Balance

In order to improve the shortcomings of the whale optimization algorithm (WOA) in dealing with optimization problems, and further improve the accuracy and stability of the WOA, we propose an enhanced regenerative whale optimization algorithm based on gravity balance (GWOA). In the initial stage, the nonlinear time-varying factor and inertia weight strategy are introduced to change the foraging trajectory and exploration range, which improves the search efficiency and diversity. In the random walk stage and the encircling stage, the excellent solutions are protected by the gravitational balance strategy to ensure the high quality of solution. In order to prevent the algorithm from rapidly converging to the local extreme value and failing to jump out, a regeneration mechanism is introduced to help the whale population escape from the local optimal value, and to help the whale population find a better solution within the search interval through reasonable position updating. Compared with six algorithms on 16 benchmark functions, the contribution values of each strategy and Wilcoxon rank sum test show that GWOA performs well in 30-dimensional and 100-dimensional test functions and in practical applications. In general, GWOA has better optimization ability. In each algorithm contribution experiment, compared with the WOA, the indexes of the strategies added in each stage were improved. Finally, GWOA is applied to robot path planning and three classical engineering problems, and the stability and applicability of GWOA are verified.