An improved shuffled frog leaping algorithm for robot path planning

摘要

Path planning is one of the most significant and challenging subjects in robot control field. In this paper, a path planning method based on an improved shuffled frog leaping algorithm is proposed. In the proposed approach, a novel updating mechanism based on the median strategy is used to avoid local optimal solution problem in the general shuffled frog leaping algorithm. Furthermore, the fitness function is modified to make the path generated by the shuffled frog leaping algorithm smoother. In each iteration, the globally best frog is obtained and its position is used to lead the movement of the robot. Finally, some simulation experiments are carried out. The experimental results show the feasibility and effectiveness of the proposed algorithm in path planning for mobile robots.