基于变参数萤火虫算法和Maklink图的路径规划研究
Research on Path Planning Based on Variable Parameters Firefly Algorithm and Maklink Graph

针对静态二维环境下的全局路径规划问题,提出了一种基于变参数萤火虫算法和Maklink图的全局路径规划方法。将定参数的连续型萤火虫算法改进为变参数的离散型萤火虫算法;根据全局路径规划问题的特点,定义了变参数萤火虫算法的编码规则及萤火虫之间的距离表征方法;以含有多个任意形状障碍物的环境为例,在Maklink图的基础上采用变参数萤火虫算法对路径进行优化,改进后的萤火虫算法能够较好的解决离散路径规划问题。实验表明:变参数萤火虫算法的性能不仅优于标准萤火虫算法,而且在收敛速度、算法稳定性等方面优于粒子群算法。
A global path planning method, based on the firefly algorithm with variable parameters and Maklink graph, is proposed to solve the global path planning problem in two-dimensional static environment. At first, the continuous firefly algorithm with fixed parameters is modified to be the discrete firefly algorithm with variable parameters. Then, according to the characteristics of the global path planning problem we define, the encoding rules and the distance between fireflies. Finally, taking the environment with some obstacles of stochastic shape as the example, and based on the Maklink graph, the firefly algorithm with variable parameters is adopted to optimize the path. The results show that the proposed method can not only solve the discrete path planning problem well, but also has better performance than the standard firefly algorithm. Furthermore, it's better than the PSO algorithm in convergence speed and computation stability