Research On Path Planning Of Mobile Robot Based On Improved Artificial Fish Swarm Algorithm

The path planning technology of mobile robot is an important part of the navigation technology of mobile robot,and it is the premise for mobile robot to complete other more complex tasks.How to help a mobile robot quickly and accurately plan an optimal path without collision in a known or unknown environment has been a research hotspot in the field of mobile robots for a long time.As mobile robots or robots based on mobile robots begin to move to thousands of households,their importance is more prominent.In this paper,a path planning method based on improved artificial fish swarm algorithm(IAFSA)and MAKLINK graph is proposed to solve the global path planning problem of mobile robot in static two-dimensional environment.First of all,the parameters of the basic artificial fish swarm algorithm(AFSA)are tested.It is found that the global search ability and local search ability of AFSA are directly related to the visual size and step size.On this basis,the idea of adaptive field of view and step size is proposed.Secondly,the Lorentzian function is used to transform the visual of AFSA algorithm into adaptive visual,and the normal distribution function is used to transform the step size into adaptive step size.At the same time,the exponential decreasing inertia weight factor is introduced to enhance the global search ability of AFSA algorithm in the early stage of iteration and the local search ability in the later stage of iteration.The test function is used to test the IAFSA algorithm proposed in this paper,and compared with AFSA algorithm and PSO algorithm.The results show that the IAFSA algorithm proposed in this paper has obvious advantages in convergence speed and calculation accuracy.Thirdly,a path planning scheme of mobile robot based on IAFSA algorithm and MAKLINK graph is proposed.MS algorithm combines IAFSA algorithm to optimize step by step.The optimal path optimized by IAFSA algorithm is taken as the global optimal path,which solves the problem that the previous algorithm can only find the approximate global optimal path in MAKLINK graph.The simulation experiment is carried out on MATLAB platform,and compared with MS-AFSA,MS-other paper IAFSA,A*,RRT,PRM,artificial potential field,GA,D-ACO,fuzzy logic path planning algorithm.The results show that MS-IAFSA algorithm in this paper can quickly and accurately plan the global optimal path,and has obvious advantages in convergence speed,stability and calculation accuracy compared with other algorithms.The complexity and practicability of MS-IAFSA algorithm are analyzed.The results show that the scheme proposed in this paper can be used in engineering practice in theory.Finally,EAI mobile robot is used to verify the path planning scheme of mobile robot based on IAFSA algorithm and MAKLINK diagram,and the experimental environment is built.The simulation and path planning of the environment are realized on the computer side,and the path planning data is transmitted to EAI mobile robot.The robot successfully implements the path planning data.It is proved that the IAFSA algorithm and MAKLINK graph are effective and feasible for path planning of mobile robot.