Research On Mobile Robot Path Planning Based On Hybrid Fish Swarm Algorithm

In the study of mobile robot navigation technology,as an indispensable part,mobile robot path planning has very important research significance.Mobile robot path planning is the shortest path from the starting position to the target position and avoiding all the obstacles according to the pre-set conditions.The swarm intelligent optimization algorithm is a kind of method that simulates the biological behavior.Then,the algorithm transforms the behavior into solving and optimizing the mathematical problem.Also,it transforming the individual in nature into the point in the optimized space,and transform the population's adaptability to the environment into solving mathematics objective function in the model.In this thesis,the artificial fish swarm algorithm in the cluster intelligence algorithm is improved to obtain the hybrid fish swarm algorithm and apply it to the path planning of the mobile robot.The main research contents are as follows:Firstly,the research background and significance of mobile robot are expounded in detail.The research status and development trend of mobile robot path planning method at home and abroad are analyzed.The modeling method of mobile robot environment is analyzed and compared.Based on grid theory,the environment model of mobile robot path planning is established.Secondly,the linear recursive inertial weighting strategy of particle swarm optimization algorithm is introduced into the artificial fish swarm algorithm,and a new hybrid algorithm of particle swarm and artificial fish is proposed.The algorithm improves the search efficiency and the optimal solution of artificial fish.The performance of the algorithm is tested by the classic traveling salesman problem.Then,the hybrid algorithm is applied to the path planning of the mobile robot.The numerical simulation shows the superiority and effectiveness of the proposed algorithm.Finally,the multi-strategy mixing mechanism is introduced in the traditional artificial fish swarm algorithm,and the weighted average distance strategy is used to expand the field of visual field.The logarithmic function is used as the moving factor of the step size to overcome the shortcomings of the traditional fixed step.The diversity of the population is expanded by using the Gaussian mutation strategy.At the same time,the path planning step of the mobile robot based on the multi-strategy hybrid artificial fish swarm algorithm is given.The experimental results show that the iterative speed and optimization effect of the presented method is faster and better.