Improved Biogeography-Based Optimization Algorithm for Mobile Robot Path Planning

摘要

In view of biogeography-based optimization algorithm has the disadvantages of application limitations and slow convergence speed when in solving the problem of mobile robot path planning. This paper proposes an improved biogeography-based optimization algorithm, which is used to solve the global path planning of mobile robot in static environment. In the proposed algorithm, the navigation point model is selected as the working area model of mobile robot, and the nonlinear migration model and mutation mechanism with the elite retention mechanism are introduced to the biogeography-based optimization algorithm to improve its performance. Simulation proves the feasibility and the effectiveness of the proposed path planning algorithm.