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Ant colony algorithm applied to robot path planning

A technology of path planning and ant colony algorithm, which is applied in the computer field, can solve problems such as slow algorithm convergence speed and long search time, and achieve the effect of improving the convergence speed

Inactive Publication Date: 2019-09-17
NANJING UNIV OF INFORMATION SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, for the traditional ant colony algorithm, due to its complexity, it often takes a long time to search, and the blindness of the initial search of the algorithm is likely to cause shortcomings such as slow convergence speed of the algorithm.

Method used

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  • Ant colony algorithm applied to robot path planning
  • Ant colony algorithm applied to robot path planning
  • Ant colony algorithm applied to robot path planning

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Embodiment

[0032] The ant colony algorithm applied to robot path planning of the present invention aims at the problem of slow convergence caused by the lack of pheromone in the early stage of ant colony algorithm, and the weight parameters α (information heuristic factor) and β (expectation heuristic factor) of pheromone and heuristic information ) to improve and dynamically adjust the two parameters; in addition, a local optimal direction guidance mechanism is added to construct a new path selection probability. The specific steps are as follows:

[0033] 1) Use the grid method to establish the simulation environment where the robot runs, such as figure 1 As shown in , where the black squares represent obstacles, and the white squares represent the ground on which the robot can walk;

[0034] 2) Input the initial pheromone matrix, select the initial point and end point and set various parameters. The relevant parameters of the algorithm are set as follows: the total number of iterati...

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Abstract

The invention relates to an ant colony algorithm applied to robot path planning. Aiming at the problems of slow convergence speed caused by early-state pheromone insufficiency, weight parameters Alpha (information inspiring factor) and Beta (expected inspiring factor) are improved by the ant colony algorithm, and the two parameters are dynamically adjusted; and moreover, a local optimal direction guidance mechanism is added to built new path selection probability, and the convergence speed of the ant colony algorithm is faster.

Description

technical field [0001] The invention relates to an ant colony algorithm applied to robot path planning, and belongs to the technical field of computers. Background technique [0002] In recent years, with the extensive application of mobile robot technology, the path planning technology, which is an important branch of it, has also received widespread attention. The so-called path planning is to find an optimal and shortest path from the starting point to the end point in the planning space full of obstacles, and can successfully bypass all obstacles in the environment without collision. [0003] At present, the algorithms applied in the field of path planning have deficiencies to varying degrees, for example, the gradient method is prone to local minima, and the calculation efficiency of the enumeration method and random search method is too low. In recent years, many scholars have used methods such as improved genetic algorithms, neural networks, and random trees to plan ...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 吴昊陈炜峰周旺平
Owner NANJING UNIV OF INFORMATION SCI & TECH
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