A Path Planning Method for Mobile Robot

Abstract

The invention discloses a path planning method for a mobile robot, which includes the following steps: S1. Using a grid method to create a robot environment map and defining a starting point and a target point; S2. Using an ant colony algorithm to find the shortest path in the environment. The ant colony algorithm includes the following steps : S21, initialize the parameters of the ant colony algorithm; S22, place m ants at the starting point, start searching, and obtain the feasible path node grid; S23, use the distance heuristic function to select the next moving grid, and add the current grid to Go to the taboo table; S24, judge whether all ants reach the target point, if yes, then proceed to step S25, if not return to step S23; S25, use the path deviation amplification strategy to update the pheromone; S26, judge whether the maximum number of iterations is reached, If yes, then end; if not, increase the number of iterations by 1 and return to step S22; S3, use the shortest path obtained in step S2 as the optimal path of planning; the present 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...

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.

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