首页|Ant Colony Algorithm for Path Planning Based on Grid Feature Point Extraction

Ant Colony Algorithm for Path Planning Based on Grid Feature Point Extraction

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Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.

ant colony algorithmmobile robotpath planningfeature pointsBezier curvegrid map

LI Erchao、QI Kuankuan

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College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China

National Natural Science FoundationNational Natural Science FoundationGansu Natural Science Foundation ProjectGansu Provincial Department of Education:Excellent Graduate"Innovation Star"Project

620630196176302620JR10RA1522021CXZX-507

2023

10.1007/s12204-023-2572-4

上海交通大学学报(英文版)
上海交通大学

上海交通大学学报(英文版)

影响因子：0.151
ISSN：1007-1172
年,卷(期)：2023.28(1)
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