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Multi-robot path planning method based on ant colony algorithm

A multi-robot, path planning technology, applied in the direction of instruments, road network navigators, measuring devices, etc., can solve the problems of limited environmental information, small robot field of view, difficult to obtain the global optimal path, etc., to achieve good optimization accuracy and stability. high sex effect

Inactive Publication Date: 2019-10-25
TIANJIN UNIV
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Problems solved by technology

In this case, the field of view of the robot is small, the environmental information th

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  • Multi-robot path planning method based on ant colony algorithm
  • Multi-robot path planning method based on ant colony algorithm
  • Multi-robot path planning method based on ant colony algorithm

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[0046] Use five sets of data in TSPLIB, eil51, st70, eil76, eil101, and tsp225, as the data set, and regard the position coordinates of tasks in each set of data sets as the positions of different tasks, and set three robots to start from the positions of the first three tasks without repeating After executing all tasks, return to the starting task position. The optimization goal is the shortest sum of all robot walking paths. The parameter settings of the comparison algorithm are shown in Table 1.

[0047] Table 1 Algorithm parameter settings

[0048]

[0049] Because the population size of ant colony algorithm, particle swarm optimization algorithm and genetic algorithm is 500, and each algorithm also generates 500 new solutions in each iteration. So when the number of iterations is the same, the number of evaluations is the same. Therefore, in this section, the termination conditions of the three comparison algorithms are set to exit the iteration and output the optimal...

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Abstract

Provided in the invention is a multi-robot path planning method based on an ant colony algorithm. The method comprises: calculating distances between all tasks according to position coordinates of different tasks; arranging M robots at positions of first M tasks and setting the first M tasks in a taboo table to indicate execution; calculating a transition probability of an ith robot from an ith task to a jth task not in the taboo table; selecting a largest probability value based on the transition probability and setting one corresponding task in the taboo table; and under the condition of allocating all tasks and adding a path, calculating the total length of the path and updating pheromone concentrations on paths between tasks based on the total length. According to the invention, on thebasis of the ant colony algorithm of transforming a multi-traveling-salesman problem into a traveling salesman problem without node adding, the effect of searching for a shortest path of multiple robots or a shortest path of the multi-traveling-salesman problem is good. The stability and optimized precision are high in path planning on a data set.

Description

technical field [0001] The invention relates to a robot path planning method. In particular, it relates to a multi-robot path planning method based on ant colony algorithm. Background technique [0002] Multi-robot path planning means that multiple robots start from different starting task positions according to the spatial distribution of multiple tasks, do not traverse all tasks repeatedly, and finally return to the starting position, so as to obtain a path that makes all robots walk. The shortest solution. According to the ability to perceive the environment, multi-robot path planning can be divided into global path planning and local path planning. [0003] Global path planning is to find the shortest path for the robot offline when all the environmental information is known and the environmental information remains unchanged. This method requires a high degree of information acquisition, low dynamics and real-time performance, and a large amount of calculation. . It...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 张涛李秋颖
Owner TIANJIN UNIV
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