Heterogeneous Serial Ant Colony Based Planning Method of Mobile Robot Navigation Path
In order to reduce the length of robot working path and the number of inflection points,a path planning method based on heterogeneous serial ant colony algorithm is proposed.The projection,expansion and coding process of grid model are intro-duced and improved;In order to reduce the length of working path and the number of inflection points,the optimization model of robot navigation path is established.The principle of standard ant colony algorithm is analyzed.According to the prior knowledge of the position of starting point and target point,the pheromone non-uniform initialization method is introduced;The angle heu-ristic factor is added to the probability formula;The ants with global intervisibility ability are added to the ant colony,and the heterogeneous ant serial strategy is proposed.At(10×10)and(20×20)scale grid,the heterogeneous serial ant colony algorithm is used for robot path planning.Compared with the standard ant colony algorithm and the super heuristic algorithm in refer-ence[12],path length planned by heterogeneous serial ant colony algorithm is the shortest and the number of inflection points is much smaller than that of the other two algorithms.The simulation results show that advantages of heterogeneous serial ant colony algorithm in robot path planning are obvious.
Mobile RobotPath PlanningGrid ModelHeterogeneous Serial Ant ColonyAngle Heuristic Factor
NETL
NSTL
万方数据
维普
