A Fireworks Algorithm Based Path Planning Method for Amphibious Robot

Abstract

This paper proposes a fireworks algorithm based path planning method for amphibious robots that operate in terraqueous environments. Firstly, the amphibious path planning is formulated into a constrained optimization problem by coordinate transformation and line segmentation. Distance, energy consumption, and robot mode switching costs regarding the unconventional characteristics of the amphibious environment are considered. Secondly, the fireworks algorithm (FWA) and the bare bones fireworks algorithm (BBFWA) are briefly introduced. Finally, both methods have been implemented for solving the amphibious path planning problem. Simulation experiments have been conducted to explore the effectiveness and performance of both methods. Results indicate that our proposed path planning method for terraqueous environments is effective, and the fireworks algorithm outperforms the bare bones fireworks algorithm despite the latter surpasses several enhanced variants of the former on certain benchmarks.