Mobile robot path planning method based on improved ant colony algorithm

A mobile robot and path planning technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems that the optimal solution cannot be found, and the ant colony algorithm falls into local optimum, so as to reduce randomness , the effect of improving the effectiveness

Active Publication Date: 2019-09-17
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

[0005] In view of the above-mentioned deficiencies in the prior art, a mobile robot path planning method based on the improved ant colony algorithm provided

Method used

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  • Mobile robot path planning method based on improved ant colony algorithm
  • Mobile robot path planning method based on improved ant colony algorithm
  • Mobile robot path planning method based on improved ant colony algorithm

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Embodiment

[0070] The present invention provides a mobile robot path planning method based on the improved ant colony algorithm, and proposes an improved ant colony algorithm with 16 search directions and 24 neighborhood nodes, so that ants have more advantages in the path search process of robot planning. More direction selection and wider search range, and two heuristic information calculation methods based on vector angles are designed; in addition, in the transition probability part, the effective search of ants in the grid map is controlled by introducing the transition probability control parameters range, a better global shortest path can be searched, the effectiveness of the algorithm search can be improved, and the randomness of the search can be reduced.

[0071] Such as figure 1 As shown, the present invention provides a mobile robot path planning method based on the improved ant colony algorithm, and its implementation method is as follows:

[0072] S1. Establish a grid map ...

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Abstract

The invention provides a mobile robot path planning method based on an improved ant colony algorithm. The improved ant colony algorithm with sixteen search directions and twenty-four neighbor nodes is proposed, so that ants have more direction selections and wider search range in a robot planning path searching process, and two heuristic information computing methods based on a vector angle are designed; moreover, the effective search range of the ants in a raster map is controlled by introducing control parameters of transition probability in a transition probability part, an optimal global shortest path can be searched, the search effectiveness of the algorithm can be improved, and the randomness of search is reduced. According to the method, the optimal global shortest path can be searched through the improved ant colony algorithm, the search effectiveness of the algorithm can be improved, the randomness of search is reduced, and a good condition is provided for robot path planning.

Description

technical field [0001] The invention belongs to the technical field of 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 is one of the important contents of mobile robot navigation research, which refers to planning an effective path for the robot from the starting point to the end point, and ensuring that the robot does not collide with any obstacles on the path. [0003] With the development of intelligent robot technology, the application of intelligent robots in military, aviation, intelligent manufacturing, intelligent storage and other fields has attracted much attention. The key to realizing the process of an intelligent mobile robot from the start point to the end point lies in the path planning algorithm. Therefore, an accurate and effective path planning algorithm plays a vital role in the research of mobile robot navigation technology. Because the ant co...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221
Inventor 徐菱付文浩杨逸轩
Owner SOUTHWEST JIAOTONG UNIV
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