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Algorithm Research & Explore
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800-804

Improved firefly algorithm for multi-robot path planning

Yu Fuzea
Pan Dazhia,b
a. School of Mathematics & Information, b. Institute of Computing Method & Application Software, China West Normal University, Nanchong Sichuan 637009, China

Abstract

In order to solve the path planning problem of multi-robots in static environment, the path length was used as the optimization target model, and this paper designed a multi-robot firefly algorithm(MR-FA) for this model. Firstly, considering the path security to expand the obstacles in the environment, MR-FA designed an initialization rule to improve the efficiency of generating the initial population. Secondly, according to the continuity principle and characteristics of the algorithm, it designed an individual isometric strategy to convert individuals with inconsistent dimensions into equal-dimensional individuals to facilitate the mobile update of fireflies, and designed initialization rules to improve the efficiency of generating initial populations. Then, it performed collision detection on the planned movement path of each robot, and designed corresponding collision avoidance strategies for different collision situations of robots: pause-fallback strategy, local path replanning strategy. Finally, this paper carried out the simulation experiments in three groups of environments and compared the effectiveness of MR-FA with the other three algorithms. It can be concluded that MR-FA has more advantages in solving multi-robot path planning.

Foundation Support

国家自然科学基金资助项目(11871059)
四川省教育厅自然科学基金资助项目(18ZA0469)
西华师范大学英才科研基金资助项目(17YC385)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.07.0369
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 3
Section: Algorithm Research & Explore
Pages: 800-804
Serial Number: 1001-3695(2023)03-025-0800-05

Publish History

[2022-10-13] Accepted Paper
[2023-03-05] Printed Article

Cite This Article

虞馥泽, 潘大志. 改进萤火虫算法求解多机器人路径规划 [J]. 计算机应用研究, 2023, 40 (3): 800-804. (Yu Fuze, Pan Dazhi. Improved firefly algorithm for multi-robot path planning [J]. Application Research of Computers, 2023, 40 (3): 800-804. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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