改进萤火虫算法求解多机器人路径规划.

In order to solve the path planning problem of multi-robots in static environment, the path length was used as the optimization target model, and this paper designed a multi-robot firefly algorithm (MR-FA) for this model. Firstly, considering the path security to expand the obstacles in the environment, MR-FA designed an initialization rule to improve the efficiency of generating the initial population. Secondly, according to the continuity principle and characteristics of the algorithm, it designed an individual isometric strategy to convert individuals with inconsistent dimensions into equal-dimensional individuals to facilitate the mobile update of fireflies, and designed initialization rules to improve the efficiency of generating initial populations. Then, it performed collision detection on the planned movement path of each robot, and designed corresponding collision avoidance strategies for different collision situations of robots: pause-fallback strategy, local path replanning strategy. Finally, this paper carried out the simulation experiments in three groups of environments and compared the effectiveness of MR-FA with the other three algorithms. It can be concluded that MR-FA has more advantages in solving multi-robot path planning. [ABSTRACT FROM AUTHOR]