Research On Path Planning Of Ball-Picking Robot Based On Ant Algorithm

With the development of the science and technology, intelligent robotic systems have been applied in the service industry, and the R&D of service-type autonomous mobile robot has received greater attention from business circles in China. Among the technologies of autonomous mobile robotic system, the core one is the vision-based path planning technology, which drives robot to use its built-in vision sensors to eye the working space and navigate autonomously according to related path planning algorithms. On the basis of introducing the characteristics of tennis sports, this paper focuses on the path planning of ball-picking robot, and classifies such path planning as one of the typical combination-optimization issues, which is complex, restrictive, non-linear and easy to get modeled.Now, many combination optimization algorithms have been developed to solve the robot path planning, but with some limitation for each algorithms. The newly-developed ant algorithm has superiorities of positive feedback, flexibility and collaboration, which enable it to adapt to the trend of path planning algorithms in the intelligent and bionic direction. Thus, this paper tries to contribute to the research of ball-picking robot path planning based on ant algorithm, and has done the following work,1. Modeling for Path Planning——On the basis of classifying the ball-picking path planning as one kind of combination-optimization issues, this paper takes a tennis yard to be the working space for ball-picking robot and then set TSP model for ball-picking path planning, which can provide an abstract space for applying the ant algorithm to search optimized paths.2. Implementation of Ant Algorithm——This paper analyzes the basic principles and working flow of the ant algorithm, and then comes up an improved ant algorithm with two improvements: One is to improve renewal strategies of pheromone between every two...