Path Planning for Mobile Robot Based on Improved Bat Algorithm

Bat algorithm has disadvantages of slow convergence rate, low convergence precision and weak stability. In this paper, we designed an improved bat algorithm with a logarithmic decreasing strategy and Cauchy disturbance. In order to meet the requirements of global optimal and dynamic obstacle avoidance in path planning for a mobile robot, we combined bat algorithm (BA) and dynamic window approach (DWA). An undirected weighted graph is constructed by setting virtual points, which provide path switch strategies for the robot. The simulation results show that the improved bat algorithm is better than the particle swarm optimization algorithm (PSO) and basic bat algorithm in terms of the optimal solution. Hybrid path planning methods can significantly reduce the path length compared with the dynamic window approach. Path switch strategy is proved effective in our simulations.

Automated summary

In this paper, an improved bat algorithm combined with the dynamic window approach is designed for better performance in path planning. The constructed undirected weighted graph with virtual points provides the robot with path switch strategies. Hybrid path planning methods can significantly reduce path length compared to the dynamic window approach.