Improved Path Planning for Mobile Robot Based on Firefly Algorithm

Abstract

Aiming at the disadvantage that (Firefly Algorithm) FA is easy to fall into local optimum, (Modified Firefly Algorithms) MFA is proposed. By controlling the step factor α, the algorithm improves the adaptive control of α, and the convergence speed of the algorithm by controlling the parameter β <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">0</inf> . The simulation results show that MFA has better accuracy for other algorithms. The robot path optimization using MFA is shorter than that using FA, which proves the effectiveness of MFA.