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Mobile robot path planning method based on improved ant colony algorithm and Bezier curve

A Bezier curve and mobile robot technology, applied in the direction of two-dimensional position/channel control, etc., can solve problems that are not suitable for real-time applications, consume preprocessing time, and unfavorable robot operation, so as to strengthen guidance and improve convergence The effect of high speed and safety

Pending Publication Date: 2022-07-15
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

This improvement measure can effectively improve the initial release of pheromones, but it needs to consume a certain amount of preprocessing time for initial path planning, which is not suitable for real-time applications. There are many turning points in the planned path, which is not conducive to the operation of real robots.

Method used

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  • Mobile robot path planning method based on improved ant colony algorithm and Bezier curve
  • Mobile robot path planning method based on improved ant colony algorithm and Bezier curve
  • Mobile robot path planning method based on improved ant colony algorithm and Bezier curve

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Embodiment Construction

[0054] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] The invention provides a mobile robot path planning method based on improved ant colony algorithm and Bezier curve, such as figure 1 shown, including:

[0056] S1. The grid method establishes the environment map and initializes the parameters;

[0057] S2. Use the improved ant colony algorithm for initial path planning, and obtain all paths that successfully reach the target node;

[0058] S3. Perform secondary path planning ...

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Abstract

The invention belongs to the field of mobile robot path planning, and particularly relates to a mobile robot path planning method based on an improved ant colony algorithm and a Bezier curve, and the method comprises the steps: carrying out the initial path planning through employing the improved ant colony algorithm, and obtaining all paths which successfully reach a target node; performing secondary path planning on all paths successfully reaching the target node to obtain an optimal path; smoothing turning points in the optimal path by adopting a Bezier curve to obtain a smooth optimal path; the path obtained by the method is higher in safety and smoother, so that the robot can run more flexibly in a working environment, and the working efficiency of the robot is improved.

Description

technical field [0001] The invention belongs to the field of mobile robot path planning, in particular to a mobile robot path planning method based on an improved ant colony algorithm and a Bezier curve. Background technique [0002] With the continuous advancement of science and technology and the continuous advancement of industrial intelligence upgrades, the application of mobile robots has received extensive attention. Among them, the path planning of mobile robots is a research hotspot. Its purpose is to search for an optimal or near-optimal safe and collision-free path from the starting position to the target position according to the specified optimization rules in an unknown or known environment. path. At present, a lot of research has been done on mobile robot path planning algorithms at home and abroad. The research methods can be roughly divided into two categories: traditional path planning algorithms and intelligent bionic path planning algorithms. Traditional...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 李帅永毛文平谢现乐聂嘉炜
Owner CHONGQING UNIV OF POSTS & TELECOMM
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