基于混沌增强多策略大鹅优化算法的机器人全局路径规划

Global Path Planning in Robotics Based on Chaos-Enhanced Multi-Strategy Wild Goose Algorithm

  • 摘要: 针对新兴的大鹅优化算法(GOOSE)在全局搜索能力上存在不足、易陷入局部最优的问题,提出了一种改进的GOOSE算法(IGOOSE)。IGOOSE通过融合混沌映射和精英反向学习策略提升种群多样性,从而增强全局搜索能力;采用非线性正弦Alpha控制函数以避免早熟收敛,同时引入混沌随机Levy飞行策略来提升高维搜索效率。为平衡局部和全局搜索能力,IGOOSE结合改进的柯西逆累积分布函数与黄金正弦策略,加快了算法的收敛速度并提升局部开发能力;此外,通过最优爆炸粒子策略有效避免陷入局部最优,并通过去冗余点策略进一步优化路径规划。仿真实验结果显示,IGOOSE算法在2维平面和3维飞行路径规划中表现出显著优势:相比GOOSE,最短路径缩短了6.31%,平均路径长度减少7.53%,稳定性提升34.72%,验证了其在复杂环境中的实用性。

     

    Abstract: In response to the limitations of the emerging goose optimization algorithm (GOOSE) in global search capability and its tendency to fall into local optima, we propose an improved GOOSE algorithm (IGOOSE). IGOOSE enhances population diversity by integrating chaos mapping and elite reverse learning strategies, thereby improving its global search ability. We employ a nonlinear sine Alpha control function to prevent premature convergence, and introduce a chaotic random Levy flight strategy to enhance the search efficiency in high-dimensional spaces. To balance local and global search capabilities, IGOOSE combines an improved Cauchy inverse cumulative distribution function with a golden sine strategy, which accelerates the convergence speed and improves local exploitation. Additionally, we adopt the optimal explosion particle strategy to effectively avoid local optima, and a redundancy elimination strategy further optimizes path planning. Simulation results demonstrate that the IGOOSE algorithm exhibits significant advantages in both 2D plane and 3D flight path planning: compared to GOOSE, the shortest path is shortened by 6.31%, the average path length is reduced by 7.53%, and stability is improved by 34.72%, validating its practical applicability in complex environments.

     

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