2D Path Planning by Lion Swarm Optimization

In this paper we propose a novel path planning algorithm which combines the Lion Swarm Optimization (LSO) algorithm and Dijkstra algorithm, in order to achieve intelligent obstacle avoidance and find the optimal path between two points in a discrete domain. Generally, the optimal path planning is a NP-hard problem, it is difficult to solve with traditional optimization methods. So, we adopt Swarm Intelligence (SI) optimization algorithm which has good performance on efficiency and accuracy. Our algorithm is decoupled into two parts. First, Maklink graph theory and Dijkstra algorithm are used to generate initial planning paths. Then, the adjusted initial clusters of paths are substituted into the improved LSO algorithm to get the optimal path. Experiment results demonstrate that LSO is more effective and feasible in two-dimensional path planning than other algorithms.