Mobile robot path planning method

A mobile robot and path planning technology, applied in the direction of instruments, road network navigators, measuring devices, etc., can solve the problems of slow convergence speed, poor stability of optimization results, etc., and achieve the effect of improving efficiency and stability

Active Publication Date: 2019-08-23
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
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  • Application Information

AI Technical Summary

Problems solved by technology

However, with the deepening of research, the shortcomings of using ant colony algorithm for robot path planning are gradually discovered, such as local optimum, slow convergence speed, poor stability of optimization results, etc.

Method used

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Embodiment Construction

[0044] Such as figure 1 As shown, the present invention provides a mobile robot path planning method, comprising the following steps:

[0045] S1. Use the grid method to create a map of the robot's working environment, and define the starting point and target point;

[0046] S2. Using the ant colony algorithm to find the shortest path in the environment, the ant colony algorithm includes the following steps:

[0047] S21. Initialize the parameters of the ant colony algorithm; related parameters include ant colony size m, maximum number of iterations G, pheromone evaporation factor ρ, pheromone intensity Q, etc.;

[0048] S22. Put m ants on the starting point, add the starting point into the taboo table, start searching, and obtain the feasible path node grid;

[0049] S23. Each ant selects the next step to move the grid according to the formula (1), and adds the current grid to the taboo table;

[0050]

[0051] In formula (1), s is the current position node with transit...

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Abstract

The invention discloses a mobile robot path planning method. The method comprises the following steps: S1, creating a robot environment map by adopting a grid method, and defining a start point and atarget point; S2, searching an environment shortest path by adopting an ant colony, wherein the ant colony algorithm contains the following steps: S21, initializing parameters of the ant colony algorithm; S22, placing m ants at the start point, beginning searching to obtain a feasible path node grating; S23, selecting the next step of moving grid by utilizing a distance heuristic function, and adding the current grid into a tabu table; S24, judging whether all ants reach the target point, if all ants reach the target point, performing the step S25, or returning to step S23; S25, performing pheromone updating by utilizing a path deviation amplifying strategy; and S26, judging whether reaching the maximum number of iterations, ending the ant colony algorithm if reaching the maximum number ofiterations, or adding one on the number of iterations and returning to step S22; and S3, taking the shortest path obtained in the step S2 as the optimal path of the planning. The planning method disclosed by the invention not only improves the global optimal solution, but also improves the convergence speed.

Description

technical field [0001] The invention relates to the technical field of robot path planning, in particular to a path planning method for a mobile robot based on an improved ant colony algorithm. Background technique [0002] Path planning technology is an important part of the research field of mobile robots. The main purpose is to find a path from the starting position node in the environment with obstacles according to certain criteria (such as the shortest path, the least position inflection point, the shortest time, etc.). The optimal or suboptimal safe collision-free path between nodes to the target location. [0003] The development of path planning technology marks the level of robot intelligence to a certain extent, and the pros and cons of path planning methods directly affect the path planning effect. [0004] At present, many experts and scholars at home and abroad are working on the research of path planning algorithms. The commonly used optimization algorithms m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 王雷李雪李东东
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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