Research on Global Path Planning Method of Mobile Robot Based on BAS

摘要

In this paper, a path planning algorithm based on the beetle antennae search (BAS) is presented, which can effectively improve the speed, obstacle avoidance and environmental adaptability of the robot path planning. The distance between the beetle and the target point is the fitness function, and the changing step size is to avoid the local optimization. According to compare random coordinates of the beetle's left and right antennae, the direction of walking is determined to plan the better path in the static environment. The obstacle avoidance is judged by whether the beetle's position and walking trail are in the effective area. Multiple beetles are set at each path point, and the optimal direction which approaches the theoretical optimal path, is chosen after comparing with every beetle's trail. A large number of results of the experiments based on RRT and BAS algorithm indicate that BAS algorithm is more capable of searching its path and avoiding obstacles. Even in a complex environment, compared with other algorithms, BAS is more likely to rapidly plan an optimal path which can successfully avoid obstruction.