第21卷第1期2023年2月福建工程学院学报JournalofFujianUniversityofTechnologyVol.21No.1Feb.2023doi:10.3969/j.issn.1672-4348.2023.01.011改进沙猫群优化算法的机器人路径规划贾鹤鸣1,李永超1,游进华1,李政邦2,饶洪华1,文昌盛1(1.三明学院信息工程学院,福建三明365004;2.福建工程学院计算机科学与数学学院,福建福州350118)摘要:为了寻找更优的机器人移动路径,将沙猫群优化算法与三次样条插值方法进行融合,对沙猫群优化算法进行改进。在改进的沙猫群优化算法中,利用混沌映射的均匀性初始化种群以提高种群多样性;通过融合互利共生和莱维飞行策略减少局部最优解的消极影响,提高算法的收敛速度和精度。通过两种仿真实验对比6种优化算法的实验数据,结果表明,改进的沙猫群优化算法的最优解、最差解和平均解都优于对比算法,验证了改进沙猫群优化算法对于解决移动机器人路径规划问题的有效性和工程实用性。关键词:机器人路径规划;沙猫群优化算法;三次样条插值;混沌映射;互利共生;莱维飞行中图分类号:TP18文献标志码:A文章编号:1672-4348(2023)01-0072-06RobotpathplanningbasedonimprovedsandcatswarmoptimizationalgorithmJIAHeming1,LIYongchao1,YOUJinhua1,LIZhengbang2,RAOHonghua1,WENChangsheng1(1.DepartmentofInformationEngineering,SanmingUniversity,Sanming365004,China;2.SchoolofComputerScienceandMathematics,FujianUniversityofTechnology,Fuzhou350118,China)Abstract:Inordertofindabetterrobotmovingpath,thesandcatswarmoptimizationalgorithmwascombinedwiththecubicsplineinterpolationmethodtoimprovethesandcatswarmoptimizationalgorithm.Intheim-provedsandcatswarmoptimizationalgorithm,theuniformityofchaoticmappingwasusedtoinitializethepop-ulationtoimprovethepopulationdiversity.Secondly,byintegratingmutualismandintroducingLevyflightstrategy,thenegativeimpactoflocaloptimalsolutionwasreducedandtheconvergencespeedandaccuracyofthealgorithmwereimproved.Intwosimulationexperiments,theexperimentaldataofthesixoptimizationalgo-rithmswerecompared.Resultsshowthattheoptimalsolution,theworstsolutionandtheaveragesolutionoftheimprovedsandcatswarmoptimizationalgorithmwereallbetterthanthoseofthecomparisonalgorithm,whichverifiesth...