Dynamic Path Planning Method Based on Ant Colony Algorithm Fusion Improved Dynamic Window Method
Aiming at the problem that the traditional dynamic window method is difficult to select the best path and the path is not smooth enough in the dynamic environment,a dynamic path planning method based on ant colony algorithm fusion improved dynamic window method is proposed.Firstly,a global optimal path is planned by using the excellent global planning ability of ant colony algorithm,and the turning point of the global path is set as the local path planning target point of the dynamic window method in turn.Then,based on the distance evaluation function of the traditional dynamic window method,the correction coefficient considering the minimum obstacle avoidance corner radius is intro-duced,which can adjust the avoidance threshold according to the size of the obstacle and reduce the ob-stacle avoidance amplitude.Finally,the improved dynamic window method is used to realize the rapid generation of the global path with the turning point as the goal.The simulation results show that the ant colony algorithm fusion improved dynamic window method is better and smoother than the tradition-al algorithm in the dynamic environment.
万方数据
维普
