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Robot path planning method and system based on ant and bee algorithm in barrier environments

A path planning and robotics technology, applied in the field of robotics, can solve problems such as slow convergence speed, deadlock, easy to fall into local optimum, etc., to achieve the effect of speeding up search speed, shortening update time, and enhancing recognition and analysis capabilities

Active Publication Date: 2018-05-15
JINGDEZHEN CERAMIC INSTITUTE
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Problems solved by technology

[0011] To sum up, the key problems of using ant colony algorithm in the path planning process of mobile robots are: in the application process of large-scale complex path environment, there are disadvantages such as slow convergence speed and easy to fall into local optimum.
In this way, the robot path planning will have a deadlock phenomenon, causing the entire robot path planning algorithm to stagnate.

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  • Robot path planning method and system based on ant and bee algorithm in barrier environments
  • Robot path planning method and system based on ant and bee algorithm in barrier environments
  • Robot path planning method and system based on ant and bee algorithm in barrier environments

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Embodiment

[0144] The robot path planning method and system based on the ant-bee algorithm in an obstacle environment proposed by the present invention is referred to as ABR for short. In order to effectively describe the high efficiency of the present invention in the process of robot path planning, 20×20 and 30 ×30 Multi-obstacle grid environment in two environments. In addition, in order to better compare the validity of the simulation results of ABR, in the present invention, it is respectively compared with the bee colony robot path planning method (abbreviated as BCR) and a kind of ant colony particle swarm algorithm machine path planning method (Deng et al. A kind of obstacle environment Ant colony particle swarm algorithm control theory and application for robot path planning, 2009, 26(8):879-883. This method is referred to as APR) and other comparisons respectively.

[0145] Parameters in the implementation process of the present invention are respectively: (1) parameter setting...

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Abstract

The invention belongs to the technical field of robots, and discloses a robot path planning method and system based on an ant and bee algorithm in the barrier environments. Advantages of an ant colonyalgorithm and a bee colony algorithm are combined, optimal planning paths are rapidly searched and correspondingly transmitted into pheromone distribution of the ant colony algorithm based on the grid modeling environment, optimal-searching of global planned paths is accelerated by the ant colony algorithm, a novel confidence level scheme is applied to a path point selection strategy, a pheromoneupdate strategy is infused, parallel search between ants is achieved, and the problem solution accuracy of a path to be planned is improved. The method and the system have the advantages that ABR caneffectively search a globally optimal planning path in the complicated barrier environments, and the robot path planning method is a novel, visual, simple, universal and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot path planning method and system (ABR) based on an ant-bee algorithm in an obstacle environment. Background technique [0002] Path planning is one of the most critical technologies in the field of practical application of mobile robots. It refers to a continuous, collision-free global optimal or suboptimal path for the robot from the starting point to the target point in a multi-obstacle environment ( ZhouZ, NieY, MinG. EnhancedAntColonyOptimizationAlgorithmforGlobalPathPlanningofMobileRobots [0003] [J]. Journal of Nanchang Hangkong University, 2011:698-701.). The robot path planning problem has been shown to be NP Combinatorial optimization problems with complex complexity (HuangB, KadaliR. DynamicModeling, PredictiveControl and PerformanceMonitoring [M]. SpringerLondon, 2008.). [0004] At present, the commonly used robot path planning technology can b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/006
Inventor 汤可宗肖绚
Owner JINGDEZHEN CERAMIC INSTITUTE
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