Path planning of water surface garbage cleaning robot based on improved immune particle swarm algorithm

Abstract

In order to effectively improve the efficiency of surface garbage cleaning robot, an intelligent control algorithm was applied to plan the robot path. To do so, an improved immune particle swarm algorithm was developed based on the robot model. This algorithm introduced the adaptive information dynamic adjustment strategy to dynamically adjust the main link indices, which improved the global searchability and convergence of particles and facilitated the quick identification of the optimal path by the robot. Through comparative simulation experiments with the particle swarm optimization algorithm, genetic algorithm, and immune particle swarm optimization algorithm, it was found that the robot based on the Adaptive Immune Particle Swarm Optimization (AIPSO) algorithm had the shortest planning path and search time, the lowest energy consumption, and the highest efficiency. A robot prototype platform was built. Compared to other algorithms, the efficiency of the robot space search based on the AIPSO algorithm was the highest, the search time was the shortest, and the energy consumption was also the lowest. Especially in the complex level 4 wave water environment, the AIPSO algorithm had the best adaptability and robustness, and the robot had the highest working efficiency and comprehensive performance. The experimental results revealed that the AIPSO algorithm effectively improved the path search and garbage cleaning efficiency of the robots and reduced the working time, which further verified the reliability and accuracy of the designed algorithm.