关键词: 移动机器人, 栅格地图, 混合蛙跳算法, 路径规划

Abstract:

To solve the problem of a method of path planning based on shuffled frog leaping algorithm is proposed to solve the poor search ability and stagnation in the mobile robot path planning.A certain number of paths are generated first in the grid map by the ant colony algorithm.Then,shuffled frog leaping algorithm is drawn in,and the worst frog updates its path according to the grids which intersect the paths of the best sub-group frogs or the global optimal frog.Finally,the generated path is optimized in order to eliminate unnecessary turning point and guarantee the moving safety of robot.Simulation under the two-dimension environment indicates that the proposed shuffled frog leaping algorithm can plan a safe and satisfactory optimal path quickly while avoiding obstacles effectively.

Key words: mobile robot;grid map;shuffled frog leaping algorithm;path planning