# ESDBO: A Multi-Strategy Enhanced Dung Beetle Optimization Algorithm for Urban Path Planning of UGV

## TL;DR

This paper introduces ESDBO, an improved algorithm for planning paths for UGVs in urban areas, which enhances performance and avoids getting stuck in local optima.

## Contribution

The novel ESDBO algorithm integrates sine mapping, adaptive mutation, and co-evolution strategies to improve convergence and path planning accuracy.

## Key findings

- ESDBO outperforms in convergence accuracy and stability through benchmark and ablation tests.
- The algorithm generates optimal paths with short length, few turns, and high safety in various urban scenarios.
- ESDBO effectively handles different obstacle densities and map scales in path planning experiments.

## Abstract

In the complex urban path planning of unmanned ground vehicles (UGVs), the dung beetle optimization (DBO) algorithm is widely used due to its simple structure and fast convergence speed. However, it still has the disadvantages of poor convergence accuracy and is easy to fall into a local optimum. To solve these problems, this paper proposes a multi-strategy enhanced DBO algorithm (ESDBO). Firstly, sine mapping is introduced in the population initialization stage to enhance solution diversity. Secondly, an adaptive information volatilization mutation strategy is proposed, which dynamically balances the convergence and global search ability. Finally, a multi-mechanism co-evolution strategy is designed, which significantly improves the local search ability and stability. Through ablation experiments and CEC2017 benchmark tests, the optimization ability of the proposed strategy and the convergence accuracy and stability of ESDBO are verified. Further path planning experiments are carried out on the public Random MAPF benchmark map. The results show that ESDBO can generate global optimal paths with short path length, few turns, and high safety margin on different obstacle densities and map scales. The algorithm provides an efficient and reliable solution for autonomous navigation in complex urban environments.