Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot path planning method and device based on ant colony algorithm

An ant colony algorithm and path planning technology, applied in two-dimensional position/channel control, instrument, vehicle position/route/height control, etc., can solve the problem of slow convergence speed, no further optimization of the path, and inconformity with the trajectory of mobile robots And other issues

Inactive Publication Date: 2020-04-10
合肥哈工澳汀智能科技有限公司
View PDF4 Cites 25 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it does not solve the problem of slow convergence caused by the lack of pheromone in the early stage of the ant colony algorithm, and does not further optimize the generated path, which does not conform to the actual trajectory of the mobile robot.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot path planning method and device based on ant colony algorithm
  • Robot path planning method and device based on ant colony algorithm
  • Robot path planning method and device based on ant colony algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0074] Such as figure 1 As shown, it is a flow chart of a robot path planning method based on ant colony algorithm provided by an embodiment of the present invention, figure 1 The non-italic n outside the judgment box means "no" and y means "yes". The non-italic n outside the judgment box does not have the same meaning as the n inside the judgment box or the n in the calculation formula below. A robot path planning method based on ant colony algorithm, said method comprising:

[0075] Step 1: Build a grid map and store environmental information; because the grid method has many advantages in building a map, it is especially suitable for the application of the ant colony algorithm. The present invention uses the grid method to build a global map and describes the environment information in the form of a matrix. Grid modeling converts the working environment of the robot into a digital map, and the environmental information of each point can be represented by index and status. ...

Embodiment 2

[0100] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides a robot path planning device based on an ant colony algorithm, the device comprising:

[0101] A grid map building module, used to create a grid map and store environmental information;

[0102] The initialization module is used to input the initial pheromone, select the starting point and the end point, and set the algorithm parameters; wherein, the algorithm parameters include the total number of iterations N, the total number of ants in each generation M, the pheromone intensity coefficient Q, the pheromone volatilization coefficient ρ, the initial Information heuristic factor α and initial expectation heuristic factor β;

[0103] The state transition probability acquisition module is used to place the ant at the starting point and calculate the current state transition probability;

[0104] An adaptive threshold acquisition module, configured to acquire a cur...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot path planning method and a device based on an ant colony algorithm. The method comprises the following steps: establishing a grid map; inputting initial pheromones, andsetting algorithm parameters; placing ants at a starting point, and calculating current state transition probability is calculated; obtaining a current adaptive threshold value; comparing the currentstate transition probability with the current adaptive threshold value, and selecting a next node where the ants walk according to a comparison result; updating the path and the path length; repeating the above steps until the ants reach the end point; repeating the above steps until the M ants of the generation are all traversed; dynamically updating an information heuristic factor alpha, an expected heuristic factor beta and the pheromones; repeating the above steps until iteration is completed; performing optimization processing on the generated path; and outputting an optimal path. The method has the advantages that the convergence speed of path planning is high, and the path planning conforms to the actual motion trail of the robot.

Description

technical field [0001] The invention relates to the technical field of intelligent algorithms for mobile robots, and more specifically relates to a robot path planning method and device based on an ant colony algorithm. Background technique [0002] Mobile robot path planning refers to the planning of the robot's trajectory, that is, specifying the mobile robot in an environment with obstacles, and at the same time given a specific starting point and end point, under the given evaluation conditions, the mobile robot avoids obstacles according to the given task. Open obstacles and search for the optimal path from the start point to the end point, which requires the shortest time, the shortest path or the least energy consumption. At present, many intelligent algorithms are used in the path planning of mobile robots, including neural network method, ant colony algorithm, artificial potential field method, particle algorithm, genetic algorithm, fuzzy reasoning method and so on....

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 赵子建陈超勇张伟孟德超李奇才
Owner 合肥哈工澳汀智能科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com