Grid path planning method, system and equipment based on ant colony algorithm and storage medium

Abstract

The invention provides a grid path planning method, system and device based on an ant colony algorithm and a storage medium, and aims to provide information of surrounding obstacle points for ants to improve the efficiency of path node searching by the ant colony and avoid invalid searching, and meanwhile, after the optimal path is obtained through primary searching by the ant colony, the optimal path is searched by the ant colony. A point is randomly selected from an optimal path node set by using a simulated annealing algorithm to add disturbance, whether a new path is superior to an original path or not is judged, a part of nodes which are poorer than an original solution are accepted according to a Mertopolaris acceptance criterion, the situation that the ant colony is caught in local optimum is effectively avoided, and after the ant colony obtains an eight-neighborhood optimal path solution, the optimal path is obtained. Whether two non-adjacent nodes are visible or not is judged, if yes, the two nodes are connected, the path point set is updated, path bending loss caused by eight-neighborhood node search is reduced, a shorter and smoother search result is obtained, the method is more suitable for path optimization in a complex environment, the distance before algorithm is shorter, time is shorter, and performance is greatly improved.

Description

technical field [0001] The present invention relates to complex grid map path optimization, in particular to a grid path planning method, system, device and storage medium based on an ant colony algorithm. Background technique [0002] Path planning refers to planning a route that satisfies constraints and has the least path cost on a given map according to specific requirements. At present, there are many ways to use ant colony algorithm to complete path planning in complex environments, most of which are after gridding the environment. , changing the relevant parameters of the ant colony algorithm for optimization, only considering the influence of the ant colony itself, not considering the interaction between the ant colony and the environment and the limitation of the search strategy of the grid environment, the search speed is slow and easy to fall into the early stage of the search Local optimum, and the optimal path obtained at the same time is also limited by the lim...

AI Technical Summary

Problems solved by technology

[0003] In view of the existence of the ant colony algorithm in the prior art for path optimization in a rasterized complex map, the convergence speed is slow in the early stage, and it is easy to fall into a local optimum, and is limited to the limitation of the eight-neighborhood search method, resulting in path loss. For the problem of obtaining the optimal path, the present invention provides a grid path planning method, system, equipment and storage medium based on ant colony algorithm, which can effectively improve the efficiency of ant colony search, reduce path loss and not easily fall into local optimum

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