A robot path planning method using improved Harris Hawks optimization algorithm

The traditional Harris Hawks optimization algorithm is prone to the local shortest path, slow search speed and poor path accuracy in indoor mobile robot path planning. For the above problems, a multi-strategy improvement of the Harris Hawks optimization algorithm (MIHHO) is proposed. In this study,...

Full description

Saved in:
Bibliographic Details
Published in:Measurement and control (London) Vol. 57; no. 4; pp. 469 - 482
Main Authors: Li, Changyong, Si, Qing, Zhao, Jianan, Qin, Pengbo
Format: Journal Article
Language:English
Published: London, England SAGE Publications 01.04.2024
Sage Publications Ltd
SAGE Publishing
Subjects:
Algorithms
Chebyshev approximation
Optimization
Optimization algorithms
Robots
Searching
Shortest-path problems
Strategy
mobile robot
Harris Hawks optimization algorithm
path planning
improved energy factor
Chebyshev chaos mapping
ISSN:0020-2940, 2051-8730
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The traditional Harris Hawks optimization algorithm is prone to the local shortest path, slow search speed and poor path accuracy in indoor mobile robot path planning. For the above problems, a multi-strategy improvement of the Harris Hawks optimization algorithm (MIHHO) is proposed. In this study, a Chebyshev chaotic mapping strategy is used to increase the diversity of the Harris Hawk population, improve the global search performance of the Harris Hawk algorithm, and prevent being trapped in the locally optimal path. A fusion exploration mechanism is proposed to fuse the discovery mechanism of the sparrow algorithm with the exploration mechanism of the HHO. Then the influence factor E is improved to improve the algorithm’s search accuracy and search efficiency, and finally, in the design of a dynamic Lévy flight strategy, which accelerates the convergence speed of the algorithm and improves the robot planning speed. Simulation results show that the proposed MIHHO method exhibits better search performance in path planning, improved planning efficiency, and superior quality of planned paths.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0020-2940
2051-8730
DOI:10.1177/00202940231204424