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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 2
450-458

Research on mobile robot dynamic path planning based on improved Harris hawk algorithm and improved dynamic window algorithm

Huang Zhifeng
Liu Yuanhua
Ren Zhihao
Zhang Wenmin
Zhang Xiaowen
Business School, University of Shanghai for Science & Technology, Shanghai 200093, China
DOI: 10.19734/j.issn.1001-3695.2023.06.0256

Abstract

Aiming at the path planning problem of mobile robot in dynamic environment, this paper proposed a fusion algorithm(IHHO-IDWA) of improved Harris hawk algorithm(IHHO) and improved dynamic window algorithm(IDWA). First of all, this paper proposed a fusion adaptive chaos and core population dynamic division strategy, a fusion golden sine strategy and a dynamic cloud optimal disturbance resolution strategy to improve the performance of and solve the lack of search performance in the late stage of the Harris eagle algorithm. In addition, in view of the problems that the dynamic window algorithm had a long planned path and easied to fall into deadlock, this paper proposed three improvement strategies to solve them. Firstly, it added sub-functions to ensure that the algorithm could plan a shorter path. Secondly, it proposed an adaptive weight strategy to balance the local obstacle avoidance ability and global search performance of the algorithm. Thirdly, it set the initial heading angle to avoid path redundancy. Finally, through numerical experiments of test functions, CEC2014 functions, and static and dynamic path planning experiments, it is verified that the performance of IHHO and IDWA in this paper has been significantly improved; through the 50×50 large-scale dynamic map, it is verified that the path planned by the fusion algorithm is shorter than that planned by the control group algorithm 11.51%, proving the superiority of the IHHO-IDWA.

Foundation Support

国家自然科学基金资助项目(72071130)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.06.0256
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 2
Section: Algorithm Research & Explore
Pages: 450-458
Serial Number: 1001-3695(2024)02-020-0450-09

Publish History

[2023-08-21] Accepted Paper
[2024-02-05] Printed Article

Cite This Article

黄志锋, 刘媛华, 任志豪, 等. 融合改进哈里斯鹰和改进动态窗口的机器人动态路径规划 [J]. 计算机应用研究, 2024, 41 (2): 450-458. (Huang Zhifeng, Liu Yuanhua, Ren Zhihao, et al. Research on mobile robot dynamic path planning based on improved Harris hawk algorithm and improved dynamic window algorithm [J]. Application Research of Computers, 2024, 41 (2): 450-458. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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