Mobile robot route planning method with ant colony algorithm

A mobile robot, ant colony algorithm technology, applied in the field of robotics, can solve the problems of local optimization, poor adaptability, poor stability, etc., to achieve the effect of fast convergence speed and good optimal path solution

Active Publication Date: 2019-06-28
BEIHANG UNIV
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  • Mobile robot route planning method with ant colony algorithm
  • Mobile robot route planning method with ant colony algorithm
  • Mobile robot route planning method with ant colony algorithm

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Embodiment 1

[0044] Ant colony algorithm is inspired by the foraging behavior of real ants in nature, and it is a heuristic intelligent evolutionary algorithm. Today's ant colony algorithm has been gradually applied in the field of mobile robot path planning because of its advantages of parallel processing, distributed computing and strong robustness. Although the ant colony algorithm has shown good results in the field of path planning, it still cannot solve the shortcomings of long search time, easy stagnation, slow convergence speed, and local optimization. In order to improve the performance of the algorithm, many scientists have done related research. Yen and Cheng proposed a fuzzy ant colony algorithm, which minimizes the iterative learning error of the ant colony algorithm under fuzzy control. Combining the advantages of ant colony algorithm and genetic algorithm, Imen et al. proposed a new hybrid GA-ACO algorithm. Cheng et al. verified the efficiency of the ant colony algorithm u...

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Abstract

The invention discloses a mobile robot route planning method with an ant colony algorithm. The method comprises that a grid map of a mobile robot is formed according to a grid method, distribution ofinitial information elements is formed according to barrier information of origin and terminal points, an expected heuristic function is formed according to a critical barrier influential factor, theinformation elements are updated according to an information element update formula, parameters of an information element heuristic factor and an expected heuristic factor are adjusted dynamically according to a fuzzy algorithm, and an information element volatilization coefficient is adjusted dynamically. A batter optimal path solution can be obtained, and the convergence speed is higher. According to simulated experiments, the method is feasible and effective.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a path planning method for a mobile robot based on an ant colony algorithm. Background technique [0002] Mobile robots have attracted widespread attention due to their great potential and research value in industrial applications, manufacturing, search and rescue, medical services, and intelligent logistics. Navigation is at the heart of research related to mobile robotics, as it defines how a mobile robot perceives its environment, localizes in it, and plans a path within a known map. Path planning is an important part of navigation technology research, and its main purpose is to construct a collision-free optimal path for mobile robots from the starting point to the goal point in a known environment. [0003] The path planning problem generally considers the static environment and the dynamic environment at the same time: the static environment means that the positions of the ...

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Application Information

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IPC IPC(8): G01C21/34G05D1/02
Inventor 陶永陈超勇赵光哲赵子建梁建宏房增亮邹遇任帆
Owner BEIHANG UNIV
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