Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots.
Path planning is an important research direction in the field of robotics; however, with the advancement of modern science and technology, the study of efficient, stable, and safe path-planning technology has become a realistic need in the field of robotics research. This paper introduces an improve...
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Online Access: | https://doi.org/10.3390/biomimetics9060351 https://pubmed.ncbi.nlm.nih.gov/38921231 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11201462/ |
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ftpubmed:38921231 2024-09-15T18:25:45+00:00 Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. Xu, Yong Sang, Bicong Zhang, Yi 2024 Jun 11 https://doi.org/10.3390/biomimetics9060351 https://pubmed.ncbi.nlm.nih.gov/38921231 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11201462/ eng eng MDPI https://doi.org/10.3390/biomimetics9060351 https://pubmed.ncbi.nlm.nih.gov/38921231 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11201462/ Biomimetics (Basel) ISSN:2313-7673 Volume:9 Issue:6 Lévy flight strategy adaptive T-distribution variation strategy circle chaotic mapping integration of northern goshawk exploration phase location strategy path planning sparrow search algorithm Journal Article 2024 ftpubmed https://doi.org/10.3390/biomimetics9060351 2024-06-28T16:02:00Z Path planning is an important research direction in the field of robotics; however, with the advancement of modern science and technology, the study of efficient, stable, and safe path-planning technology has become a realistic need in the field of robotics research. This paper introduces an improved sparrow search algorithm (ISSA) with a fusion strategy to further improve the ability to solve challenging tasks. First, the sparrow population is initialized using circle chaotic mapping to enhance diversity. Second, the location update formula of the northern goshawk is used in the exploration phase to replace the sparrow search algorithm's location update formula in the security situation. This improves the discoverer model's search breadth in the solution space and optimizes the problem-solving efficiency. Third, the algorithm adopts the Lévy flight strategy to improve the global optimization ability, so that the sparrow jumps out of the local optimum in the later stage of iteration. Finally, the adaptive T-distribution mutation strategy enhances the local exploration ability in late iterations, thus improving the sparrow search algorithm's convergence speed. This was applied to the CEC2021 function set and compared with other standard intelligent optimization algorithms to test its performance. In addition, the ISSA was implemented in the path-planning problem of mobile robots. The comparative study shows that the proposed algorithm is superior to the SSA in terms of path length, running time, path optimality, and stability. The results show that the proposed method is more effective, robust, and feasible in mobile robot path planning. Article in Journal/Newspaper Northern Goshawk PubMed Central (PMC) Biomimetics 9 6 351 |
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Open Polar |
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PubMed Central (PMC) |
op_collection_id |
ftpubmed |
language |
English |
topic |
Lévy flight strategy adaptive T-distribution variation strategy circle chaotic mapping integration of northern goshawk exploration phase location strategy path planning sparrow search algorithm |
spellingShingle |
Lévy flight strategy adaptive T-distribution variation strategy circle chaotic mapping integration of northern goshawk exploration phase location strategy path planning sparrow search algorithm Xu, Yong Sang, Bicong Zhang, Yi Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
topic_facet |
Lévy flight strategy adaptive T-distribution variation strategy circle chaotic mapping integration of northern goshawk exploration phase location strategy path planning sparrow search algorithm |
description |
Path planning is an important research direction in the field of robotics; however, with the advancement of modern science and technology, the study of efficient, stable, and safe path-planning technology has become a realistic need in the field of robotics research. This paper introduces an improved sparrow search algorithm (ISSA) with a fusion strategy to further improve the ability to solve challenging tasks. First, the sparrow population is initialized using circle chaotic mapping to enhance diversity. Second, the location update formula of the northern goshawk is used in the exploration phase to replace the sparrow search algorithm's location update formula in the security situation. This improves the discoverer model's search breadth in the solution space and optimizes the problem-solving efficiency. Third, the algorithm adopts the Lévy flight strategy to improve the global optimization ability, so that the sparrow jumps out of the local optimum in the later stage of iteration. Finally, the adaptive T-distribution mutation strategy enhances the local exploration ability in late iterations, thus improving the sparrow search algorithm's convergence speed. This was applied to the CEC2021 function set and compared with other standard intelligent optimization algorithms to test its performance. In addition, the ISSA was implemented in the path-planning problem of mobile robots. The comparative study shows that the proposed algorithm is superior to the SSA in terms of path length, running time, path optimality, and stability. The results show that the proposed method is more effective, robust, and feasible in mobile robot path planning. |
format |
Article in Journal/Newspaper |
author |
Xu, Yong Sang, Bicong Zhang, Yi |
author_facet |
Xu, Yong Sang, Bicong Zhang, Yi |
author_sort |
Xu, Yong |
title |
Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
title_short |
Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
title_full |
Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
title_fullStr |
Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
title_full_unstemmed |
Application of Improved Sparrow Search Algorithm to Path Planning of Mobile Robots. |
title_sort |
application of improved sparrow search algorithm to path planning of mobile robots. |
publisher |
MDPI |
publishDate |
2024 |
url |
https://doi.org/10.3390/biomimetics9060351 https://pubmed.ncbi.nlm.nih.gov/38921231 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11201462/ |
genre |
Northern Goshawk |
genre_facet |
Northern Goshawk |
op_source |
Biomimetics (Basel) ISSN:2313-7673 Volume:9 Issue:6 |
op_relation |
https://doi.org/10.3390/biomimetics9060351 https://pubmed.ncbi.nlm.nih.gov/38921231 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11201462/ |
op_doi |
https://doi.org/10.3390/biomimetics9060351 |
container_title |
Biomimetics |
container_volume |
9 |
container_issue |
6 |
container_start_page |
351 |
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1810466229346893824 |