›› 2015, Vol. 28 ›› Issue (11): 29-.

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  1. (上海理工大学 光电信息与计算机工程学院,上海 200093)
  • 出版日期:2015-11-15 发布日期:2015-12-15
  • 作者简介:潘翔(1990—),男,硕士研究生。研究方向:计算机视觉,人工智能。E-mail:jypanxiang@163.com。唐春晖(1971—),男,博士,讲师。研究方向:计算机视觉,图像处理。

Path Planning of Mobile Robot Based on Shuffled Frog Leaping Algorithm

PAN Xiang,TANG Chunhui,ZHANG Renjie   

  1. (School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
  • Online:2015-11-15 Published:2015-12-15



关键词: 移动机器人, 栅格地图, 混合蛙跳算法, 路径规划


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


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