Enhanced Artificial Gorilla Algorithm for Mobile Robot Path Planning

doi:10.16182/j.issn1004731x.joss.24-0163

Abstract

Abstract:

To address the issues of susceptibility to local optima and slow convergence in mobile robot path planning within complex terrain scenarios, an enhanced artificial gorilla troops optimizer with integration of quadratic interpolation and elite individual genetic strategies (QGGTO) is proposed. The algorithm integrates quadratic interpolation and elite individual genetic strategies to promote information exchange among candidate solutions, thereby accelerating convergence, while maintaining population diversity to avoid local optima. For complex terrains containing both regular and irregular obstacles, a cost function that comprehensively considers walking distance, safety, and turning angles is constructed to uniformly evaluate the path planning performance of the algorithm. Simulation experiments demonstrate that QGGTO overall optimization performance surpassing GTO and six other competitive algorithms. QGGTO can assist robots in planning paths closest to the global optimum in four complex obstacle environments, validating its effectiveness in practical applications.

Key words: robot path planning, artificial gorilla troops optimizer, quadratic interpolation, elite individual genetic strategy, metaheuristic algorithm

CLC Number:

TP391.9

Ye Chen, Shao Peng, Zhang Shaoping, Li Wenting, Zhou Tengming. Enhanced Artificial Gorilla Algorithm for Mobile Robot Path Planning[J]. Journal of System Simulation, 2025, 37(6): 1474-1485.

Figures/Tables 6

Fig. 1

Table 1

Experimental results of the CEC2017 test suite

函数	性能指标	MPSO^[31]	BWO^[32]	DBO^[33]	SCSO^[34]	GTO^[16]	EAGT^[29]	EGTO^[30]	QGGTO
$F 1$	平均值	1.97E+11	2.93E+11	3.99E+10	9.13E+10	1.31E+09	3.68E+08	5.54E+09	2.98E+03
$F 1$	标准差	2.72E+10	7.65E+09	5.30E+10	1.09E+10	1.27E+09	4.21E+08	3.64E+09	2.34E+03
$F 2$	平均值	9.54E+05	4.95E+05	6.75E+05	3.32E+05	2.50E+05	2.56E+05	2.24E+05	1.82E+05
$F 2$	标准差	2.03E+05	1.02E+05	3.17E+05	2.10E+04	2.19E+04	4.20E+04	2.94E+04	1.86E+04
$F 3$	平均值	2.55E+04	5.67E+04	2.58E+03	7.60E+03	1.19E+03	1.04E+03	1.57E+03	7.73E+02
$F 3$	标准差	4.56E+03	1.87E+03	6.28E+02	1.77E+03	1.27E+02	1.13E+02	3.32E+02	5.34E+01
$F 4$	平均值	1.74E+03	2.13E+03	1.69E+03	1.57E+03	1.37E+03	1.33E+03	1.35E+03	1.21E+03
$F 4$	标准差	1.04E+02	2.96E+01	2.74E+02	9.01E+01	6.65E+01	7.15E+01	6.93E+01	7.02E+01
$F 5$	平均值	6.71E+02	6.98E+02	6.68E+02	6.74E+02	6.57E+02	6.51E+02	6.59E+02	6.27E+02
$F 5$	标准差	5.52E+00	1.72E+00	1.56E+01	3.88E+00	2.14E+00	3.98E+00	2.42E+00	5.39E+00
$F 6$	平均值	4.70E+03	4.45E+03	2.87E+03	3.75E+03	3.37E+03	3.20E+03	3.36E+03	2.07E+03
$F 6$	标准差	6.64E+02	8.32E+01	2.63E+02	1.52E+02	2.36E+02	2.03E+02	2.73E+02	3.13E+02
$F 7$	平均值	2.06E+03	2.46E+03	1.91E+03	1.91E+03	1.65E+03	1.60E+03	1.69E+03	1.48E+03
$F 7$	标准差	1.48E+02	2.46E+01	2.71E+02	8.44E+01	6.50E+01	7.81E+01	4.83E+01	1.26E+02
$F 8$	平均值	6.96E+04	7.81E+04	6.98E+04	4.32E+04	2.58E+04	2.52E+04	2.46E+04	1.93E+04
$F 8$	标准差	2.95E+04	3.27E+03	1.29E+04	5.21E+03	1.38E+03	1.32E+03	2.17E+03	3.05E+03
$F 9$	平均值	2.17E+04	3.18E+04	2.78E+04	2.12E+04	1.79E+04	1.66E+04	1.65E+04	1.55E+04
$F 9$	标准差	1.33E+03	8.87E+02	5.83E+03	1.32E+03	4.00E+03	1.36E+03	1.38E+03	1.41E+03
$F 10$	平均值	1.35E+05	3.36E+05	1.80E+05	8.99E+04	1.41E+04	1.49E+04	1.13E+04	3.34E+03
$F 10$	标准差	5.67E+04	4.47E+04	3.60E+04	2.94E+04	3.72E+03	5.01E+03	4.96E+03	9.48E+02
$F 11$	平均值	7.22E+10	1.92E+11	4.34E+09	3.05E+10	1.12E+08	9.08E+07	1.79E+08	1.99E+07
$F 11$	标准差	2.27E+10	1.06E+10	1.61E+09	7.49E+09	5.50E+07	4.51E+07	7.34E+07	7.79E+06
$F 12$	平均值	6.08E+09	4.19E+10	1.77E+08	3.98E+09	8.04E+05	2.50E+04	3.01E+04	4.85E+03
$F 12$	标准差	2.04E+09	3.38E+09	1.76E+08	2.49E+09	2.44E+06	6.61E+03	1.36E+04	1.76E+03
$F 13$	平均值	1.90E+07	6.17E+07	1.21E+07	1.11E+07	5.95E+05	8.19E+05	5.73E+05	1.03E+06
$F 13$	标准差	2.32E+07	2.18E+07	7.93E+06	6.62E+06	3.09E+05	5.60E+05	2.80E+05	5.13E+05
$F 14$	平均值	3.15E+09	2.32E+10	5.61E+07	5.96E+08	1.30E+04	7.94E+03	8.14E+03	4.02E+03
$F 14$	标准差	1.35E+09	2.01E+09	7.85E+07	5.86E+08	5.61E+03	4.14E+03	2.90E+03	3.57E+03
$F 15$	平均值	9.52E+03	2.73E+04	8.43E+03	1.06E+04	7.25E+03	6.49E+03	7.65E+03	5.49E+03
$F 15$	标准差	1.01E+03	2.17E+03	1.25E+03	1.45E+03	5.04E+02	5.17E+02	8.78E+02	8.00E+02
$F 16$	平均值	1.94E+04	3.03E+06	8.29E+03	1.49E+04	5.97E+03	5.59E+03	5.91E+03	5.29E+03
$F 16$	标准差	1.40E+04	1.55E+06	9.41E+02	1.89E+04	6.60E+02	6.53E+02	5.69E+02	4.17E+02
$F 17$	平均值	4.63E+07	1.73E+08	1.94E+07	7.37E+06	1.26E+06	1.73E+06	9.56E+05	1.24E+06
$F 17$	标准差	3.39E+07	5.21E+07	1.96E+07	3.12E+06	5.34E+05	9.65E+05	5.02E+05	4.03E+05
$F 18$	平均值	2.76E+09	2.06E+10	4.22E+07	1.44E+09	1.00E+04	7.59E+03	1.24E+04	4.79E+03
$F 18$	标准差	2.11E+09	2.29E+09	2.94E+07	2.32E+09	5.86E+03	5.14E+03	9.50E+03	2.90E+03
$F 19$	平均值	6.25E+03	7.58E+03	6.68E+03	5.66E+03	5.52E+03	5.58E+03	5.48E+03	4.95E+03
$F 19$	标准差	8.55E+02	2.65E+02	8.20E+02	5.80E+02	4.79E+02	5.48E+02	4.53E+02	9.38E+02
$F 20$	平均值	3.80E+03	4.72E+03	3.98E+03	3.59E+03	3.49E+03	3.25E+03	3.49E+03	3.05E+03
$F 20$	标准差	1.29E+02	1.15E+02	1.45E+02	1.29E+02	1.88E+02	1.83E+02	1.79E+02	1.12E+02
$F 21$	平均值	2.34E+04	3.45E+04	2.71E+04	2.47E+04	2.49E+04	1.94E+04	2.16E+04	1.78E+04
$F 21$	标准差	2.22E+03	3.57E+02	4.47E+03	1.48E+03	3.98E+03	1.40E+03	3.08E+03	1.64E+03
$F 22$	平均值	4.91E+03	6.09E+03	4.66E+03	4.40E+03	4.16E+03	3.94E+03	4.38E+03	3.63E+03
$F 22$	标准差	1.25E+02	1.19E+02	2.47E+02	1.66E+02	1.53E+02	2.37E+02	2.23E+02	1.69E+02
$F 23$	平均值	6.51E+03	9.12E+03	6.17E+03	5.53E+03	5.07E+03	5.10E+03	5.17E+03	4.33E+03
$F 23$	标准差	3.84E+02	4.46E+02	3.52E+02	2.19E+02	5.43E+02	5.00E+02	4.25E+02	1.89E+02
$F 24$	平均值	1.85E+04	2.78E+04	6.97E+03	9.61E+03	3.98E+03	3.70E+03	4.36E+03	3.37E+03
$F 24$	标准差	5.14E+03	1.09E+03	4.41E+03	2.03E+03	2.41E+02	9.12E+01	3.92E+02	4.27E+01
$F 25$	平均值	3.60E+04	4.94E+04	2.63E+04	3.33E+04	2.69E+04	2.15E+04	2.77E+04	1.85E+04
$F 25$	标准差	3.97E+03	1.68E+03	2.76E+03	2.81E+03	2.35E+03	4.90E+03	4.41E+03	6.17E+03
$F 26$	平均值	5.61E+03	1.19E+04	4.39E+03	5.32E+03	4.12E+03	4.22E+03	4.28E+03	3.94E+03
$F 26$	标准差	3.71E+02	9.32E+02	5.29E+02	4.58E+02	3.67E+02	5.21E+02	2.57E+02	1.97E+02
$F 27$	平均值	2.70E+04	2.70E+04	1.68E+04	1.25E+04	3.95E+03	4.76E+03	4.53E+03	3.47E+03
$F 27$	标准差	2.04E+03	1.10E+03	6.42E+03	2.48E+03	1.16E+02	4.68E+02	4.92E+02	2.42E+01
$F 28$	平均值	2.28E+04	2.60E+05	1.11E+04	1.45E+04	8.34E+03	7.93E+03	8.97E+03	7.24E+03
$F 28$	标准差	2.23E+04	1.47E+05	1.96E+03	4.18E+03	7.60E+02	9.02E+02	9.51E+02	5.12E+02
$F 29$	平均值	6.57E+09	3.96E+10	1.38E+08	3.28E+09	8.47E+05	4.10E+05	2.38E+06	2.06E+04
$F 29$	标准差	2.82E+09	2.90E+09	1.05E+08	2.39E+09	6.67E+05	2.67E+05	1.61E+06	7.85E+03
Friedman	秩均值	6.74	7.88	5.53	5.60	3.29	2.55	3.26	1.14
Friedman	排名	7	8	5	6	4	2	3	1

Table 1

Fig. 2

Table 2

Parameter configuration

参数	取值
路径节点个数 $n$	5
路径节点之间的插值点个数 $m$	1 000
路径节点和插值点的边界坐标	(200,100)~(1 200,1 100)
机器人最大宽度 $D$ /m	1
危险区圆环宽度 $S$ /m	1
安全因子 $a$	100
最大转角 $ϕ m a x$ /(°)	60
惩罚因子 $w$	10

Table 2

Table 3

Fig. 3

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场景	性能指标	MPSO	BWO	DBO	SCSO	GTO	EGTO	EAGT	QGGTO
I	平均值	1 727.94	1 663.24	1 801.72	1 589.38	1 439.17	1 729.04	1 429.75	1 428.83
I	标准差	126.32	98.16	180.25	70.32	38.54	37.18	26.32	23.37
II	平均值	1 518.33	1 878.73	1 618.78	1 808.25	1 500.73	1 760.97	1 592.47	1 475.17
II	标准差	42.54	215.75	91.09	191.98	76.77	220.73	115.76	21.89
III	平均值	1 810.20	2 675.82	1 739.81	2 009.58	1 673.67	2 015.01	1 730.05	1 658.61
III	标准差	138.21	382.26	127.85	121.24	159.24	190.27	118.43	147.69
IV	平均值	1 711.53	2 575.28	1 701.21	1 838.54	1 636.47	2 109.99	1 695.24	1 613.04
IV	标准差	142.47	302.02	99.02	145.48	170.85	314.22	141.91	186.90
Friedman	秩均值	4.75	7.75	5.25	5.75	2.25	6.75	3.00	1.00
Friedman	排名	4	8	5	6	2	7	3	1

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