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Path planning method for two groups of multi-directional robots based on multi-objective search

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: 2018-12-25
HUAIAN COLLEGE OF INFORMATION TECH
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  • Abstract
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  • Claims
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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 paths in the prior art. Robot path planning method, which uses the grid method to model the environment, introduces strategies such as multi-target search, multi-directional travel, and dynamic pheromone generation to improve the efficiency of finding the optimal solution and the smoothness of the final optimized path

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  • Path planning method for two groups of multi-directional robots based on multi-objective search
  • Path planning method for two groups of multi-directional robots based on multi-objective search
  • Path planning method for two groups of multi-directional robots based on multi-objective search

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Embodiment Construction

[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 path planning method for two groups of multi-directional robots based on multi-objective search, which reasonably introduces multi-objective search and roulette into the ant colony algorithm, and expands the search range and direction of individual ants; the dynamic pheromone The generation and storage method keeps the current optimal path at a high pheromone level to attract some ants to move along the optimal path, and continuously optimizes the current optimal path; the present invention comprehensively considers the random shunting of some ants in the entire population to complete the overall Random search also considers the use of the positive feedback strategy of the ant colony algorithm to complete the continuous optimization of the current shortest path, which improves the path search efficiency and the probability of finding the optimal path.

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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Patent Type & Authority Patents(China)
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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