An Adaptive Dynamic Path Planning Method for Robots Based on Ant Colony-Clustering Algorithm
A dynamic path and clustering algorithm technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., to achieve the effect of reducing convergence time, realizing dynamic path planning, and shortening path distance
Active Publication Date: 2021-08-10
KUNMING UNIV OF SCI & TECH +1
View PDF12 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the traditional ant colony algorithm does not comprehensively consider the problem of dynamic path planning in the case of limited search range, high real-time requirements and limited computing power of mobile robots.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0065] Example 1: Such as figure 1 As shown, a robot adaptive dynamic path planning method based on ant colony-clustering algorithm, specific steps:
[0066] (1) Modeling the work environment of the robot using the grid method: the movement robot is recorded in the motion area in the two-dimensional plane, in the upper left corner of the motion area G, the horizontal axis is the x-axis, the longitudinal axis is Y. The shaft establishes a right angle coordinate system, and there are several obstacle grids in the motion zone G. The obstacle grid is represented by a black grid. The free grid is indicated by a white grid, and the serial number indicator is encoded, free grid. Card is 0, the obstacle grid is 1, the side length of each grid is a, the maximum grid value in the abscissa and ordinate, the total number of grid is E = mm · mm, according to the Left to right, from the next order to the raster sequentially, the raster spatial coordinate calculation formula for numbered I is:
...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a robot adaptive dynamic path planning method based on an ant colony-clustering algorithm, and belongs to the technical field of robot intelligent algorithms. The present invention uses the grid method to model the environment; determines the upper bound of the search radius of this dynamic path planning according to the real-time requirements of planning; the mobile robot takes the current position as the starting point, and uses the selection rule of radius search to determine the search of this local dynamic path planning Radius value; call the random roulette method to determine the optimal local target point for this dynamic path planning; call the ant colony algorithm to plan this local optimal path; calculate the two norms of the optimal local target point and the preset end point, if If the two-norm is zero, then the optimal local target point is the global target point; if the two-norm is not zero, repeat. The invention can automatically select a suitable search radius according to the distribution of obstacles, complete the dynamic planning of the path, and has good environmental adaptability and better comprehensive path optimization performance.
Description
Technical field [0001] The present invention relates to a robotic adaptive dynamic path planning method based on ant colony-clustering algorithm, which is a technical field of robot intelligence algorithm. Background technique [0002] Path Planning refers to the optimal or secondary path of the initial position to the target position in accordance with a certain performance indicator (such as distance, time, etc.) in a known or position environment of an obstacle. Considering that the autonomous navigation of mobile robots in the dynamic complex environment has a huge application value in the unmanned field, the research on path planning issues in dynamic complex environments is imperative. [0003] The ant colony algorithm is to converge on the cumulative and update convergence of pheromones, with distributed global search capabilities, but due to the lack of the initial pixel, the convergence speed is slow, and once the information is accumulated to a certain extent, it can co...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 杨春曦刘新宇赵峰谭力铭陈飞朱强
Owner KUNMING UNIV OF SCI & TECH