Mobile Robot Dynamic Path Planning Based on Self-Adaptive Harmony Search Algorithm and Morphin Algorithm

摘要

As a vital part of autonomous navigation of mobile robot, path planning is a hot research direction which aims at searching a shortest collision-free path from the starting position to the goal position in a complex environment. In this paper, a method for global dynamic path planning is designed based on improved self-adaptive harmony search algorithm (ISAHS) and Morphin algorithm. Firstly, to improve the quality of new solution vector, a neighbors and optimal learning strategy is introduced. Secondly, two key parameters are adjusted adaptively and a probability disturbance strategy is designed for renewing harmony memory, and then an improved self-adaptive harmony search algorithm is proposed to obtain an initial optimal path in the static environment. Finally, the Morphin algorithm is introduced to avoid the moving obstacles in real time. Simulation results indicate that the proposed method performs well in planning an initial static optimal path and it can avoid all preset moving obstacles effectively.