Research on the Application of Enhanced Ant Colony Algorithm in Mobile Robot Path Planning
An enhanced ant colony algorithm with communication mechanism was proposed to address the problem of insufficient utilization of historical paths in path planning of mobile robots using ant colony algorithm.The historical paths were integrated based on the contact characteristics of ant tentacles in nature to obtain better composite paths.In order to further improve the algorithm,an ampli-fied roulette wheel method was proposed to accelerate convergence.An adaptive Sigmoid decay function was designed to optimize heuris-tic information at different stages.Specific optimization strategies were developed for various types of deadlock problems to reduce the number of deadlock ants.Finally,parameter determination and comparative experiments were conducted,the overall performance of the proposed algorithm had improved significantly in both simple and complex environments,and the experimental results proved the effec-tiveness of the proposed method.
mobile robotsant colonypath planningdeadlock problems
万方数据
维普
