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Storage robot path optimization method based on ant colony algorithm

An ant colony algorithm and robot technology, applied in the field of warehousing and logistics, can solve the problems of increasing the complexity of storing and retrieving goods, and achieve the effect of suppressing falling into local optimum, reasonable method and steps, and easy to popularize and use.

Pending Publication Date: 2021-06-22
陈娅莉
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Problems solved by technology

Concomitantly, the complexity of storing and retrieving goods has also increased greatly

Method used

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  • Storage robot path optimization method based on ant colony algorithm

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Embodiment Construction

[0020] like figure 1 As shown, the storage robot path optimization method based on ant colony algorithm of the present invention comprises the following steps:

[0021] Step 1. Initialize parameters for path optimization;

[0022] Step 2, each ant performs a path loop search;

[0023] Step 3: After searching all the ant paths, compare the local optimal paths;

[0024] Step 4. Partially update the amount of pheromone on the path;

[0025] Step five, update the global pheromone;

[0026] Step 6. Repeat steps 2 to 5 until the maximum number of cycles is reached;

[0027] Step 7. Use the local optimal path extension to expand and optimize the searched local optimal path to find the global optimal path.

[0028] In this method, the parameters for path optimization described in step 1 include making time t=0, number of cycles N c = 0, the initial pheromone τ on the path from cargo location point i to cargo location point j ij =τ 0 , the number of ants is m, and the taboo lis...

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Abstract

The invention discloses a storage robot path optimization method based on an ant colony algorithm. The method comprises the following steps: 1, initializing parameters for path optimization; 2, performing path circulation search by each ant; 3, after all ant paths are searched, comparing to obtain a local optimal path; 4, locally updating the pheromone quantity on the path; 5, performing global pheromone updating; 6, repeating the step 2 to the step 5 until the maximum cycle index is reached; and 7, optimizing the searched local optimal path expansion by applying the local optimal path expansion, and searching a global optimal path. The method is reasonable in step and convenient to implement, can be effectively applied to path planning of the storage robot for warehouse logistics, effectively inhibits the algorithm from falling into local optimum, achieves optimal path searching of the storage robot, enables the storage robot to rapidly avoid obstacles and safely reach a target point, and is good in use effect and convenient to popularize and use.

Description

technical field [0001] The invention belongs to the technical field of warehousing and logistics, and in particular relates to a path optimization method for a warehousing robot based on an ant colony algorithm. Background technique [0002] At present, with the development of the economy, large-scale warehouses are constantly emerging, and the number of shelves and the types of goods have also increased geometrically. Concomitantly, the complexity of storing and retrieving goods has also increased greatly. [0003] Path planning technology is an important part of the research field of warehousing robots. The main purpose is to find a path from the starting position node in the environment with obstacles according to certain criteria (such as the shortest path, the least position inflection point, the shortest time, etc.). The optimal or suboptimal safe non-collision path between nodes to the target location has an urgent need for fast and accurate access to target goods by...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/206G05D1/0088G05D1/0212
Inventor 不公告发明人
Owner 陈娅莉
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