Path planning of mobile robot based on hybrid improved artificial fish swarm algorithm

Yi Zhang1 , Yuanhong Hua2

1, 2Center of Chongqing Information Accessibility and Service Robot Engineering Technology Research, Chongqing, 400065, China

2Corresponding author

Vibroengineering PROCEDIA, Vol. 17, 2018, p. 130-136.
Received 26 February 2018; accepted 11 March 2018; published 20 April 2018

Copyright © 2018 JVE International Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Creative Commons License

The artificial fish swarm algorithm is easy to fall into the local optimum for robot global path planning. A hybrid improved Artificial Fish Swarm Algorithm (HIAFSA) is proposed. Firstly, the sub-optimal path is determined by A* algorithm, and then the adaptive behavior of artificial fish swarm algorithm is improved based on the inertia weight factor, and the attenuation function α is introduced to improve the visual range and moving step length of the artificial fish, balance the global path planning and local path planning, and further improve the convergence speed and quality of the solution. The experimental results show that the hybrid improved artificial fish swarm algorithm has been improved in avoiding local optimum, convergence speed and precision.

Keywords: path planning, A* algorithm, artificial fish swarm algorithm, attenuation function, inertia weight factor.


This paper belongs to the Project of the “Chongqing Science and Technology Committee, China” No. cstc2015jcyjBX0066 and “Research Project of Chongqing Municipal Education Commission Science and Technology” No. KJ1600442.


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