Dynamic Path Planning Method of Mobile Robot Based on Ant Colony and DWA Fusion
Path planning algorithm is the key link of mobile robot research.In view of the traditional ant colony algorithm search efficiency is slow and unable to real-time obstacle avoidance problem,put forward the improved ant colony algorithm with DWA fusion method of dynamic path planning Firstly,the state transition probability and pheromone updating rule are improved to improve the searching speed of ant colo-ny algorithm.Secondly,the path optimization strategy is adopted to improve the smoothness of the global path.Then the global path fusion function and the obstacle safety threshold are added to the evaluation func-tion of DWA to improve the dynamic obstacle avoidance ability of mobile robot.The simulation experiment results show that the improved algorithm on the path to the inflection point number than the traditional ant colony algorithm is improved by 75%and can real-time detect unknown obstacles and managed to escape.Proved in this paper,the proposed algorithm has obvious improvement in path searching performance,smoothness and dynamic obstacle avoidance in complex dynamic environment.
mobile robotpath planningant colony algorithmDWA algorithmdynamic obstacle avoid-ance
NETL
NSTL
万方数据
维普
