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Warehouse mobile robot path planning method based on improved ant colony algorithm

A mobile robot and path planning technology, applied in the field of warehouse management, can solve the problems of unbalanced and fast convergence speed, and achieve the effects of reducing the overall length, avoiding stagnation, and improving speed and accuracy

Active Publication Date: 2020-06-19
XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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Problems solved by technology

[0003] Aiming at the technical problems existing in the prior art, the present invention provides a warehouse mobile robot path planning method based on the improved ant colony algorithm, to solve the technical problems in the prior art that cannot balance the fast convergence speed and avoid premature stagnation, and effectively improve the improved warehouse efficiency

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  • Warehouse mobile robot path planning method based on improved ant colony algorithm
  • Warehouse mobile robot path planning method based on improved ant colony algorithm
  • Warehouse mobile robot path planning method based on improved ant colony algorithm

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Embodiment Construction

[0058] The present invention will be further described in detail below in combination with specific embodiments.

[0059] as attached Figure 1-17 As shown, the present invention provides a method for path planning of warehouse mobile robots based on the improved ant colony algorithm, comprising the following steps:

[0060] S1. To facilitate the simplification of the warehouse model, establish a grid map of the warehouse, set the parameters of the ants, and divide the ant colony into several sub-ant colonies; where X is the abscissa axis and Y is the ordinate axis in the warehouse grid map, record Edge (i, j) is the edge connecting node i and node j;

[0061] S2. Use each sub-ant colony to perform path search, and obtain several path search results; sort each sub-ant colony path search result according to the utility function value;

[0062] Each child ant colony conducts a path search process, which specifically includes the following steps:

[0063] S201. All the ants in...

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Abstract

The invention discloses a warehouse mobile robot path planning method based on an improved ant colony algorithm. The method comprises the following steps: firstly, dividing an ant colony into a plurality of sub-ant colonies; performing path search by using each sub ant colony, and sorting according to utility function values to obtain better ants; updating the pheromones to neighbor sub ant colonies, and outputting an initial path after iterating for a set number of times; if no obstacle exists between connecting lines of any two nodes in the initial path, the two nodes are directly connected,and path planning of the warehouse mobile robot is completed; according to the method, the path search results are sorted by utilizing the utility function, so that the pheromones have correct directivity, the probability that ants select shorter paths is improved, and blindness in the search process is avoided; through information exchange among the sub ant colonies, the searching capability ofthe whole ant colony and the speed of searching the shortest path are improved; and the intermediate nodes are smoothed, so that the turning times and the total length of the planned path are reduced,and the running efficiency of the warehouse is effectively improved.

Description

technical field [0001] The invention relates to the technical field of warehouse management, in particular to a path planning method for a warehouse mobile robot based on an improved ant colony algorithm. Background technique [0002] At present, when dealing with the path planning problem of intelligent warehouse mobile robots, there are many studies on the use of ant colony algorithm, but most of the ant colony algorithms solve the path planning problem by intervening with certain parameters to change the node selection of ants in the population method or pheromone update method to improve the search effect; less consideration is given to the way of using pheromone interaction between multiple ants and ant colonies in the iterative process; this method is difficult to balance the two purposes of fast convergence and avoiding premature stagnation, and Most of the relevant studies only pursue the shortest walking path of the mobile robot, and do not consider the problem that...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06N3/00G05D1/02
CPCG06Q10/047G06N3/006G05D1/0217
Inventor 于军琪李若琳赵安军段佳音惠蕾蕾余紫瑞任延欢叶子雁
Owner XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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