Path planning of robot based on artificial fish-swarm algorithm

Abstract

In this paper,the link graph is used to describe the working space of the mobile robot and the Dijkstra algorithm is used to obtain a sub-optimal collision-free path from the start point to the goal point in the graph,then adopt the AFSA(Artifi- cial Fish-Swarm Algorithm) to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path by adjusting the points of the path.A calculation for an example has been done and the computation result shows that this method has some advantages as convergence and computation precision.