Whale optimization algorithm based on Levy flight and memory for static smooth path planning

Abstract

In this paper, a whale optimization algorithm based on Levy flight and memory (WOALFM) is proposed to solve the curvature discontinuity problem in the global path planning of unmanned vehicles. Levy flight and chaotic mapping are introduced to disturb the solutions of each generation and enhance the diversity of solutions. A memory strategy based on fractional-order expansion is presented to remember the influence of the positions of individuals in previous generations on the positions of current generation. This strategy based on Levey flight and memory can enhance searching ability and avoid falling into local optimum. Furthermore, the ratio of global searching to local searching can be adjusted to achieve desired results in WOALFM algorithm. The proposed WOALFM algorithm is tested and compared with five algorithms including whale optimization algorithm (WOA), Moth-Flame Optimization (MFO), particle swarm optimization (PSO), Fractional-Order Velocity based Particle Swarm Optimization (FOPSO) and Grey Wolf Optimizer (GWO) on 23 standard benchmark functions. The experimental results show the effectiveness of WOALFM. The proposed algorithm is applied to smooth path planning problem of unmanned vehicles. Three factors, including the length, curvature and curvature derivative of a path are considered in order to obtain the shortest smooth path without collisions. The experimental results show that more collision-free paths can be obtained in lower computational cost by the presented method.