Research On Mobile Robot Path Planning Based On Improved Multi-layer Morphin Algorithm

At present,mobile robots are getting closer to people's lives,and path planning,as a key technology of mobile robots,has been a research hotspot and a difficult point for many scholars.Therefore,for most of the surrounding static environments,there are still some obstacles in the complex environment that have not been identified in advance.The path planning of mobile robots is studied,the multi-layer Morphin algorithm is improved,and an improved self-adaptive bat algorithm(SABA)was introduced into the global path planning of mobile robots,and combined with the advantages of the two algorithms to build a hybrid path planning algorithm.In order to solve the problem that the search arc is too dense and there is more time consumption when searching for the multi-layer Morphin algorithm,a multi-layer variable search arc of Morphin algorithm(VSA-Morphin)is designed.The algorithm adjusts the number of search arcs generated by each layer of search nodes so that it is no longer fixed,but can be reduced as the number of search layers increases,thereby shortening the search and evaluation time.At the same time,drawing on the idea of rolling windows,the algorithm is able to Perform local obstacle avoidance and complete path planning.The SABA algorithm is introduced into the path planning of mobile robots,and combined with the cubic spline interpolation method,a global path planning algorithm for mobile robots based on the SABA algorithm is given.First use the SABA algorithm to generate several global path nodes,and then use the cubic spline interpolation method to interpolate the generated global path nodes to obtain a smooth global optimal path.Finally,through the simulation comparison experiment of the algorithm and the other two algorithms in different environments,it is verified that the SABA algorithm combined with the cubic spline interpolation method can achieve better results in the path planning of mobile robots.Aiming at the problem of poor dynamic obstacle avoidance ability of global path planning algorithm and the path obtained by local path planning algorithm may not be optimal,the two algorithms are combined to construct a hybrid path planning algorithm based on multi-layer VSAMorphin and SABA.First use the SABA algorithm to plan the global path points for the mobile robot,and then use the cubic spline interpolation method to interpolate the global path points to obtain a global optimal path.The mobile robot moves along the planned global path and cannot avoid it.In case of obstacles,the 3-layer VSA-Morphin algorithm is used for local obstacle avoidance,and the mobile robot leaves the obstacle and returns to the planned global path.After simulation verification,the mobile robot can achieve dynamic obstacle avoidance while ensuring the optimal path length and successfully reach the specified target point.