基于改进烟花-蚁群混合算法的智能移动体避障路径规划

Aiming at the problem of obstacle avoidance path planning for intelligent mobile in two-dimensional static environment, this paper proposes an improved fire-ant colony hybrid algorithm to obtain the optimal path.First of all, in view of the shortcomings of the basic fireworks algorithm, an improved method of increasing the "pioneer sparks" and using the "mirror mapping" rule to deal with pioneer sparks beyond the boundary is proposed. Then, the optimal path of the improved fireworks algorithm is used as the reference path, which is converted into the initial pheromone distribution of the ant colony algorithm. It makes up for the shortcomings of the initial pheromone deficiency and the slow convergence rate of the ant colony algorithm. Finally, simulation experiments are carried out in three different environments. The experimental results show that the algorithm proposed in this paper can quickly find the optimal path of high precision, and also has a strong performance in dealing with complex environment. The proposed algorithm provides a new idea to solve the problem of obstacle avoidance path planning for intelligent mobile in complex environment.