ROBOT PATH PLANNING WITH A HYBRID ARITHMETIC OPTIMIZATION ALGORITHM

To address the premature convergence and search stagnation of arithmetic optimization algorithm (AOA), the paper proposes a hybrid arithmetic optimization algorithm (HAOA) and applies it to the practical robot path planning (RPP) problem. In initialization phase, the chaotic mechanism is used to create high-quality individuals. In evolution phase, the stochastic disturbance method is applied to enhance the exchange of information between different individuals. The solution space information around the candidate solution was integrated by Levy flight to enhance gene diversity and enhance search performance. In order to better solver the RPP problem, the Spline interpolation method is adapted to the HAOA algorithm for path optimization, so as to smooth the path curve and ensure the planning accuracy. Finally, numeric experiments of benchmark functions and RPP instances verify HAOA's excellent performance in accuracy and robustness. This research shows arithmetic optimization algorithm can quickly find the global optimal solution, and has fast convergence speed and accuracy.