Power robot tracing method based on improved ant colony algorithm

By improving the ant colony algorithm and adopting a three-dimensional raster network model, combining multi-step search strategy and inflection point parameters, the calculation complexity and path quality problems of traditional path planning methods in three-dimensional space are solved, and more efficient and smoother path planning is achieved.

CN119762692AActive Publication Date: 2025-04-04STATE GRID SHANGHAI MUNICIPAL ELECTRIC POWER CO
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Patent Information

Application Number
CN202411805514.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-10
Publication Date
2025-04-04
Estimated Expiration
2044-12-10

AI Technical Summary

Technical Problem

Traditional path planning methods have complex calculations in three-dimensional space, poor path quality, insufficient obstacle handling capabilities, and slow convergence speed of traditional ant colony algorithms, insufficient path smoothness, and poor adaptability in high-dimensional space.

Method used

By improving the ant colony algorithm, a three-dimensional raster network model is used for path planning, a multi-step search strategy and inflection point parameters are introduced, pheromone update rules are optimized, and the smoothness and search efficiency of the path are improved.

Benefits of technology

It improves the path planning accuracy and efficiency of power robots in complex three-dimensional environments, ensures the smoothness and safety of paths, shortens the path length, and improves convergence speed and global search capabilities.

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Abstract

The invention provides a power robot tracing method based on an improved ant colony algorithm, and the method comprises the steps: converting a three-dimensional space environment into a three-dimensional grid network through a rasterization technology, carrying out the path search through employing the improved ant colony algorithm, and optimizing the path selection through combining a pheromone updating rule, heuristic information and a multi-step search strategy. According to the method, the smoothness of the path is adjusted by introducing inflection point parameters, the turning angle of the robot is reduced, and it is ensured that the path is more stable. Specifically, an included angle between adjacent nodes on a path is calculated and different inflection point parameters are given, so that turning cost is introduced in pheromone increment calculation, and the path quality is improved. Pheromone updating is carried out through global and local rules, and it is ensured that the pheromone concentration in the path searching process effectively guides ants to advance towards the optimal path. Experimental results show that the method can effectively shorten the path length, reduce the turning frequency and improve the driving efficiency of the power robot in the three-dimensional space.
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