和声搜索
运动规划
计算机科学
移动机器人
算法
任意角度路径规划
和声(颜色)
路径(计算)
机器人
人工智能
数学优化
数学
艺术
视觉艺术
程序设计语言
作者
Yongbin Quan,Haibin Ouyang,Chunliang Zhang,Steven Li,Liqun Gao
出处
期刊:IEEE Access
[Institute of Electrical and Electronics Engineers]
日期:2021-01-01
卷期号:9: 102758-102769
被引量:21
标识
DOI:10.1109/access.2021.3098706
摘要
As a vital part of autonomous navigation of mobile robot, path planning is a hot research direction which aims at searching a shortest collision-free path from the starting position to the goal position in a complex environment. In this paper, a method for global dynamic path planning is designed based on improved self-adaptive harmony search algorithm (ISAHS) and Morphin algorithm. Firstly, to improve the quality of new solution vector, a neighbors and optimal learning strategy is introduced. Secondly, two key parameters are adjusted adaptively and a probability disturbance strategy is designed for renewing harmony memory, and then an improved self-adaptive harmony search algorithm is proposed to obtain an initial optimal path in the static environment. Finally, the Morphin algorithm is introduced to avoid the moving obstacles in real time. Simulation results indicate that the proposed method performs well in planning an initial static optimal path and it can avoid all preset moving obstacles effectively.
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