Path Planning for Wall-Climbing Robots Using an Improved Sparrow Search Algorithm

Abstract

Traditional path planning algorithms typically focus only on path length, which fails to meet the low energy consumption requirements for wall-climbing robots in bridge inspection. This paper proposes an improved sparrow search algorithm based on logistic–tent chaotic mapping and differential evolution, aimed at addressing the issue of the sparrow search algorithm’s tendency to fall into local optima, thereby optimizing path planning for bridge inspection. First, the initial population is optimized using logistic–tent chaotic mapping and refracted opposition-based learning, with dynamic adjustments to the population size during the iterative process. Second, improvements are made to the position updating formulas of both discoverers and followers. Finally, the differential evolution algorithm is introduced to enhance the global search capability of the algorithm, thereby reducing the robot’s energy consumption. Benchmark function tests verify that the proposed algorithm exhibits superior optimization capabilities. Further path planning simulation experiments demonstrate the algorithm’s effectiveness, with the planned paths not only consuming less energy but also exhibiting shorter path lengths, fewer turns, and smaller steering angles.

Keywords

• wall-climbing robot
• path planning
• sparrow search algorithm
• chaotic mapping
• differential evolutionary algorithm