Mobile robot path planning method based on improved black wing plinary optimization algorithm

The invention discloses a mobile robot path planning method based on an improved black-wing optimization algorithm. The method comprises the following steps: rasterizing a working space of a mobile robot by using a grid method; setting relevant parameters of a black wing plinuary optimization algorithm; determining an initial position and a target position of the mobile robot in the grid map; selecting a path point of next movement for each black wing; judging whether the black wing plinux arrives at a target position or not; and judging whether the current iteration number t reaches the maximum iteration number T or not. According to the invention, through an improved black-wing optimization algorithm, a global path optimization function is established by taking a shortest driving path and no collision with an obstacle as targets, the global path optimization function is solved, and an optimal collision avoidance path is planned; in an initialization process, tent chaotic mapping is introduced, a whale falli