基于果蝇优化算法的月球车全局路径规划

摘要

Based on the requirements of the global path planning of the lunar rover, the Fruit Fly Optimization Algorithm is introduced in the global navigation point planning. Since FOA may converge ill, the algorithm is modified. In the modified algorithm, the distance from fruit flies to the origin is directly put into the fitness function, which is not easy to fall into local optimum,improve the stability of the algorithm, and make the flies group fly to known food source. Simulation results show the improved algorithm is simple and has high ability to find the best path.%基于月球车全局路径规划的任务要求，采用果蝇优化算法应用于全局路径的规划。针对果蝇优化算法在路径规划中容易形成局部最优的问题，对算法进行了修改，将果蝇与原点的距离直接带入味道浓度判定函数，从而不易陷入局部最优，提高了算法的稳定性，并可使果蝇群体向已知食物源飞行。通过仿真表明该算法具有计算简单、全局寻优能力强等特点，能够快速地找到优化的全局路径。