An Improved PSO-GWO Algorithm With Chaos and Adaptive Inertial Weight for Robot Path Planning

Abstract

The traditional particle swarm optimization (PSO) path planning algorithm represents each particle as a path and evolves the particles to find an optimal path. However, there are problems in premature convergence, poor global search ability, and to the ease in which particles fall into the local optimum, which could lead to the failure of fast optimal path obtainment. In order to solve these problems, this paper proposes an improved PSO combined gray wolf optimization (IPSO-GWO) algorithm with chaos and a new adaptive inertial weight. The gray wolf optimizer can sort the particles during evolution to find the particles with optimal fitness value, and lead other particles to search for the position of the particle with the optimal fitness value, which gives the PSO algorithm higher global search capability. The chaos can be used to initialize the speed and position of the particles, which can reduce the prematurity and increase the diversity of the particles. The new adaptive inertial weight is designed to improve the global search capability and convergence speed. In addition, when the algorithm falls into a local optimum, the position of the particle with the historical best fitness can be found through the chaotic sequence, which can randomly replace a particle to make it jump out of the local optimum. The proposed IPSO-GWO algorithm is first tested by function optimization using ten benchmark functions and then applied for optimal robot path planning in a simulated environment. Simulation results show that the proposed IPSO-GWO is able to find an optimal path much faster than traditional PSO-GWO based methods.