The Study Of Robot Path Planning Based On Ant Colony Algorithm And Its Application On Ports

With the continuous rapid development of our country's economy, the foreign trade is more and more frequently. This has brought the unprecedented opportunity and the challenge for harbor flowing industry. This requires the harbor to improve the efficiency, speed up the development. This sets a very high request to the harbor automated operation. The harbor robot research is precisely proposed based on the background.Therefore, path planning as an important factor in intelligent robot seems particularly important. Path planning is to search a collision-free path from the start to target which is optimal or near-optimal based on some performance index.Path planning of robot is a very typical Optimization problem which has many typical characters such as complexity, restriction, non-linear and so on. But the harbor's condition is very complex. In order to achieve the harbor robot independently to march forward, it needs a highly efficient path planning algorithm.An ant colony algorithm is a stochastic searching optimization algorithm which is based on the heuristic behavior of the biologic colony. Its positive feedback and coordination make it possible to be applied to a distributed system. It has favorable adaptability in solving combinatorial optimization and has great development potential for its connotative parallel property. So it has great potential to applying the algorithm to the path planning of robot.Firstly, this paper provides a summary of ant colony algorithm, and summarizes the characteristics and trends of the algorithm. The software is made to study the changes in the parameters of the algorithm performance. Through a lot of experiments, summarizes the best parameter area for the eil-51TSPquestion.Then this paper indicates the MAX-MIN Ant Colony Algorithm which is one of the more excellent ant colony algorithms at present. It studies mainly the convergence of the algorithm using utmost way. After finite iterative, the probability of the algorithm will reach 1. So, the convergence of the algorithm is solved.Based on the study of ant colony algorithm, the environment map is established using grid method. This paper compiles the software to solve the path planning of robot. If the environment map is known, the optimal path can be built quickly by this software. The software does a foundational job for the harbor robot path planning.