An Improved Artificial Electric Field Algorithm for Robot Path Planning
Jun Tang, Qingtao Pan, Zhishuai Chen, Gang Liu, Guoli Yang, Feng Zhu, Songyang Lao · IEEE Transactions on Aerospace and Electronic Systems · 2024
Effectively improving the optimization performance of artificial electric field algorithm (AEFA) and broadening its application domain can aid in providing robot path planning in three-dimensional (3D) complex scenes. This paper effectively proposes an improved AEFA (I-AEFA) and creatively applies it to robot path planning. The algorithm introduces three mechanisms to enhance the exploration ability and convergence accuracy of the population: parameter adaptation, reverse learning, and Cauchy mutation. Next, the benchmark terrain model accurately models the 3D environment, and the global path planning problem is solved using a combination of I-AEFA and cubic spline interpolation. Then, a large number of virtual simulation experiments are conducted to evaluate the algorithm's three improved mechanisms, various control point counts, as well as single and multi-robot configurations before migrating the algorithm to the graphical modeling and analysis software (GMAS) for hardware-in-the-loop simulation experiments. Finally, the experimental results are analyzed qualitatively and quantitatively using a variety of visualization techniques and two nonparametric test methods, demonstrating that the I-AEFA proposed in this paper has good optimization performance and is highly effective, reliable, and scalable for solving robot path planning problems.