Introducction:
Mobile Robot is a kind of robot system consisting of sensors, remote control operators and
automatic control mobile carriers. It is a product of integrated application of integrated disciplines developed in recent
years. In the research of mobile robot related technology, navigation technology is its core, and path planning is an
important link and subject of navigation research.
Objective:
An improved firefly algorithm is proposed for path planning of Mobile Robots in this paper.
Methods:
In this paper, an improved firefly algorithm is proposed. Compared with traditional firefly algorithm, this
algorithm has three main improvements: (1) using Sobol sequence to initialize population; (2) adding dynamic disturbance
coefficient to enhance the global search ability of the algorithm; (3) considering the uncertainty of search, the attraction
between individuals is strong. Fuzzy control is carried out by setting membership function.
Results:
The new algorithm takes advantage of the uniformity of Sobol sequence sampling and starts to optimize in a
wider range, which makes the initial path of the algorithm longer, but because the new algorithm introduces the dynamic
disturbance coefficient and the fuzzy control strategy, the average running time is shorter.
Conclusion:
In the simulation experiment of mobile robot path planning problem, the improved firefly algorithm
proposed in this paper is easier to jump out of local optimum than the traditional firefly algorithm, and has more robust
search ability.
Discussion:
It is obvious from the graph that in 100 iterations, the FaFA algorithm takes advantage of the uniformity of
Sobol sequence sampling and starts to optimize in a wider range, which makes the initial path of the algorithm longer, but
because the FaFA algorithm introduces the dynamic disturbance coefficient and the fuzzy control strategy, it makes the
algorithm able.
A Novel Step Optimal Path Planning Algorithm for the Spherical Mobile Robot Based on Fuzzy Control
