Multi-target searching-based two-colony multidirectional route planning method for robot

A path planning and robot technology, applied in the computer field, can solve the problems of single search target, complex pheromone storage and calculation, low search efficiency, etc., to achieve the effect of improving efficiency, increasing diversity and efficiency, and increasing diversity

Inactive Publication Date: 2017-01-11
HUAIAN COLLEGE OF INFORMATION TECH
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to design a two-group and multi-direction algorithm based on multi-objective search in view of the shortcomings of low search efficiency, single search target, and complex pheromone storage and calculation when using ant colony algorithm to plan pa

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  • Multi-target searching-based two-colony multidirectional route planning method for robot
  • Multi-target searching-based two-colony multidirectional route planning method for robot

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[0032] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments, but it should not be construed as a limitation on the technical solution.

[0033] Figure 1 to Figure 5 It is a schematic diagram of the robot path planning process of the present invention; now in conjunction with Figure 1 to Figure 5 The shown content describes the process of optimizing the walking path of the robot by the ant colony algorithm provided by the present invention. On the whole, it includes the following steps:

[0034] Step 1: If figure 1As shown, a workspace full of obstacles is modeled with a grid to form a grid map. The upper left corner of the grid map is the origin, so that each cell uses a set of coordinates (x, y) in its lower right corner Mark; in the grid map, use 0 to mark the obstacle cell 200, 1 to mark the feasible cell 300, S to be the starting cell 100, and T to be the terminal cell 400;

[0...

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Abstract

The invention discloses a multi-target searching-based two-colony multidirectional route planning method for a robot. The multi-target searching-based two-colony multidirectional route planning method comprises the following steps: reasonably introducing multi-target searching and roulette into an ant colony algorithm, and expanding the search range and the direction of individual ants, wherein by generation and storage methods of dynamic pheromone, the current optimal route can be kept at a relatively high pheromone level to attract part of the ants to move along the optimal route so as to continuously optimize the current optimal route. According to the multi-target searching-based two-colony multidirectional route planning method for the robot, by the comprehensive consideration that part of the ants are randomly divided in the whole population to complete global random searching and the consideration that a positive feedback strategy of the ant colony algorithm is used for completing continuous optimization of the current shortest route, the route searching efficiency and the possibility of finding the optimal route are improved.

Description

technical field [0001] The invention relates to a path planning method for two groups of multi-directional robots based on multi-target search, which belongs to the field of computer technology. Background technique [0002] Path planning is one of the core issues in the field of robotics research. The key to its research is to find a safe path to avoid obstacles in a workspace full of obstacles, and require the robot to travel at the lowest cost (usually referring to the path length). Many algorithms have been produced in this field, such as: A* algorithm, artificial potential field algorithm, Dijkstra algorithm, Floyed and so on. In recent years, some path planning algorithms based on swarm intelligence ideas have been proposed, such as: ant colony algorithm, particle swarm algorithm, fish swarm algorithm and so on. [0003] In the field of robot path planning, the grid method is a commonly used environment modeling method. Through the grid method, complex spatial infor...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 程乐宋艳红卞曰瑭徐义晗刘万辉
Owner HUAIAN COLLEGE OF INFORMATION TECH
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