Group Path Planning Based on Variable Dimension ABC Algorithm

摘要

Group mobile robot path planning is a multi-objective optimization problem, as the requirement of obstacle avoidance, traditional robot path planning optimization method has the problem of algorithm complexity, large search space and low efficiency, it is difficult to obtain the optimal solution. In order to improve the efficiency and the positioning accuracy of group robot path planning, we put forward a group mobile robot path planning method based on variable dimension artificial bee colony algorithm. Firstly, we take robot working environment to model, then taking group robot path network as nectar source, the ultimate goal of path planning is to find minimal path network, to find an optimal swarm robot moving path network which avoids obstacles through the mutual cooperation between bees. Simulation experiment results show that the path planning method based on variable dimension artificial bee colony algorithm improves the efficiency of swarm robot path planning, it can find optimal solution of swarm robot path planning during the shortest time, and it can avoid obstacles safely, it provides basis to group robot task coordination.