doi:10.16186/j.cnki.1673-9787.2021010073

Received:2021/01/17

Revised:2021/03/05

Published:2022/03/15

Anadaptivefireflyalgorithm improvedantcolonyalgorithm forpathplanningofmobilerobot

DULi 1,2, XUGuanghui 1,2, WANGFanrong 1,2

1.School of Electrical and Electronic Engineering,Hubei University of Technology,Wuhan  430068 ,Hubei,China;2.Hubei Key Laboratoryof Solar Energy Efficient Utilization and Operation Control of Energy Storage System ,Hubei University of Technology,Wuhan  430068 ,Hubei,China

Abstract: Aiming at the problems of poor convergence，slow search speed，and excessive dependence on parameter selection in the traditional ant colony optimization to solve the path planning problem of mobile robot,a hybrid ant colony algorithm improved by adaptive firefly algorithm was proposed.Firstly，the firefly algorithm was introduced on the basis of the ant colony algorithm to optimize its core parameters.Secondly，to solve the problem of high time cost after the two algorithms were mixed，the pheromone update method combining the elite strategy and the continuation method was introduced，and the step factor of the firefly algorithm was adaptively designed to improve the efficiency and solving accuracy of the entire hybrid algorithm.Finally，path planning simulation experiments were carried out in different grid environments.The simulation results proved that compared with the traditional ant colony algorithm，the proposed hybrid intelligent algorithm significantly improved the overall effect.

Key words:path planning;firefly algorithm;ant colony algorithm;parameter optimization;adaptive algorithm

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