Obstacle avoidance path planning method based on convex set calculation and optimized ant colony algorithm

A path planning and ant colony algorithm technology, applied in the field of obstacle avoidance path planning, can solve problems such as easy to fall into local optimal solution, slow convergence speed of ant colony algorithm, easy to stagnate and so on

Pending Publication Date: 2019-11-08
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

At the same time, due to the slow convergence speed of the ant colony algorit...

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  • Obstacle avoidance path planning method based on convex set calculation and optimized ant colony algorithm
  • Obstacle avoidance path planning method based on convex set calculation and optimized ant colony algorithm
  • Obstacle avoidance path planning method based on convex set calculation and optimized ant colony algorithm

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[0064] In order to make the object, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0065] Such as Figure 13 A method of obstacle avoidance path planning based on convex set calculation and optimized ant colony algorithm shown, the method includes the following steps:

[0066] S1. Divide the environment where obstacles are located into grids to generate such as figure 1 and figure 2 The dense obstacle environment map shown;

[0067] The obstacle is a rectangle whose sides are parallel to the x and y axes, image 3 As shown in , use the coordinates of the upper left vertex and the lower right vertex of the obstacle to represent the fixed point information of the obstacle;

[0068] According to the generation probability of random uniform distribution, in the dense obstacle environment map, the generated obstacles are select...

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Abstract

The invention discloses an obstacle avoidance path planning method based on convex set calculation and an optimized ant colony algorithm. The method comprises the following steps of S1, generating a dense obstacle environment map, and generating an obstacle set; S2, according to convex set calculation, generating an obstacle convex hull; S3, according to the initial point and a target point set bythe path, converting the obstacle set into a point set and an edge set; S4, according to the ant colony algorithm, performing path planning, and outputting the current shortest path. The convergencerate at the earlier stage of the traditional ant colony algorithm is increased to the certain degree, axial alignment characteristics of obstacles are sufficiently utilized, and the convex hull solution process is accelerated; according to convex hull information, the path is rapidly planned, and complexity is reduced.

Description

technical field [0001] The invention belongs to the field of obstacle avoidance path planning, in particular to an obstacle avoidance path planning method based on convex set calculation and optimized ant colony algorithm. Background technique [0002] In recent years, the application prospect of mobile robot technology in industry, agriculture, medicine, social service and other fields has become more and more broad, and it has become a hot issue in the international robotics circle. In a special environment, such as a dense obstacle environment, most optimized paths collide with obstacles. There is an urgent need for a safer, more reliable, and more effective method to enable robots to avoid obstacles, reach goals, complete established tasks, and search and rescue after disasters. [0003] At present, a lot of research work has been done on neural network-based robot path planning at home and abroad, and many neural network models for path planning have been proposed. Che...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/006
Inventor 杜广龙
Owner SOUTH CHINA UNIV OF TECH
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