Mobile robots are widely used in industrial,medical,logistics and other fields,and path planning is a key technology in mobile robot research.Based on the traditional Ant Colony Algorithm,this paper designs a hybrid algorithm based on improved Ant Colony Algorithm and Dynamic Window Algorithm.The improved Ant Colony Algorithm is used for global path planning,and the Dynamic Window Algorithm is used for local path planning.Finally,the hybrid algorithm is used to verify the path planning of single robot and multi-robot.The experimental results show that single robot and multi-robot can effectively avoid obstacles in path planning,and the path is smooth without inflection point,which proves the feasibility of the hybrid algorithm.
关键词
蚁群算法/路径规划/动态窗口算法
Key words
Ant Colony Algorithm/path planning/Dynamic Window Algorithm
维普
万方数据