The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm
Joint Authors
Zhang, Yi
Guan, Guolun
Pu, Xingchen
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-25
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Path planning is critical to the efficiency and fidelity of robot navigation.
The solution of robot path planning is to seek a collision-free and the shortest path from the start node to target node.
In this paper, we propose a new improved artificial fish swarm algorithm (IAFSA) to process the mobile robot path planning problem in a real environment.
In IAFSA, an attenuation function is introduced to improve the visual of standard AFSA and get the balance of global search and local search; also, an adaptive operator is introduced to enhance the adaptive ability of step.
Besides, a concept of inertia weight factor is proposed in IAFSA inspired by PSO intelligence algorithm to improve the convergence rate and accuracy of IAFSA.
Five unconstrained optimization test functions are given to illustrate the strong searching ability and ideal convergence of IAFSA.
Finally, the ROS (robot operation system) based experiment is carried out on a Pioneer 3-DX mobile robot; the experiment results also show the superiority of IAFSA.
American Psychological Association (APA)
Zhang, Yi& Guan, Guolun& Pu, Xingchen. 2016. The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112015
Modern Language Association (MLA)
Zhang, Yi…[et al.]. The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1112015
American Medical Association (AMA)
Zhang, Yi& Guan, Guolun& Pu, Xingchen. The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112015
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112015