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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 3297585, 11 pages
Research Article

The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm

1Research Center of Intelligent System and Robot, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
2School of Science, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Received 19 February 2016; Accepted 1 August 2016

Academic Editor: Fei Liu

Copyright © 2016 Yi Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Path planning is critical to the efficiency and fidelity of robot navigation. The solution of robot path planning is to seek a collision-free and the shortest path from the start node to target node. In this paper, we propose a new improved artificial fish swarm algorithm (IAFSA) to process the mobile robot path planning problem in a real environment. In IAFSA, an attenuation function is introduced to improve the visual of standard AFSA and get the balance of global search and local search; also, an adaptive operator is introduced to enhance the adaptive ability of step. Besides, a concept of inertia weight factor is proposed in IAFSA inspired by PSO intelligence algorithm to improve the convergence rate and accuracy of IAFSA. Five unconstrained optimization test functions are given to illustrate the strong searching ability and ideal convergence of IAFSA. Finally, the ROS (robot operation system) based experiment is carried out on a Pioneer 3-DX mobile robot; the experiment results also show the superiority of IAFSA.