Research Of Fish Swarm Algorithm And Its Application In Robot Dynamic Path Planning

Nowadays,with the rapid development of modern technology and increasingly widespread popularity,the research of the intelligent algorithm has already penetrated into various fields of research,and has occupied a pivotal position in the future development of the robot path planning.In the field of mobile robot research,as the robot's precision structure is different from the human-beings,they will produce a great amount of computation for even each small action,and the mobile robot's own condition is limited,then the robot working environment is relatively complex in reality,so that it has become one of the obstacles in the development of the field.So it is a very important and challenging issue that dynamic path planning algorithm intelligent mobile robot become.It is necessary to reduce the computation scale from two aspects above to improve the efficiency of path planning and alleviate the calculation pressure on robots.This paper mainly completed the following work:First of all,introduce path planning technology and analysis both advantages and disadvantages of basic artificial fish school algorithm,and try to improve their disadvantages.Secondly,In order to improve the quality and convergence speed optimization path collection,this paper analyzes both advantages and disadvantages of the basic artificial fish school algorithm,then put forward some improvement strategies based on some disadvantages in the global static route planning,including the feasible region strategy and bringing the tabu table of basic ant colony algorithm into this improved algorithm.Then the simulation experiment is carried out in the global static path planning environment,the final results show that the improved artificial fish school algorithm can effectively improve the route quality of the search path and the convergence speed of the basic artificial fish school algorithm.Finally,in order to simulate the real working environment of the dynamic path planning,the path planning of obstacle avoidance in dynamic environment is further studied.This paper also put forward wait strategy and re-planning strategy based on dynamic path planning,and thus can effectively avoid obstacles.However,the simulation results can be seen,this path optimization algorithm efficiency and quality to be improved and the improved algorithm still should be improved in path searching efficiency and quality.