How to find a reasonable and effective path for mobile robot is a key research point attracting scholars’ attention at present. To expand and deepen the research on path planning methods, a new harmony search (NHS) algorithm is devised. At first, we considered a path as a multidimensional variable composed of many key points, and then the path length and collision degree are regarded as two optimization targets. Secondly, according to the path feature, the iteration rule of improvising new harmony vector is modified to perfect the quality of generated path, and the iteration rule of renewing harmony memory is also changed to increase the chance to escape from local traps. Finally, simulation results on path planning demonstrate that the designed algorithm can get an optimal path and it has stronger global search ability and faster convergence speed compared with other harmony search algorithms.
New Harmony Search Algorithm for Mobile Robot Path Planning
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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