Research Of Dynamic Robat Path Planning Based On BeiDou Location Information

With the rapid development of artificial intelligence, robot path planning is focused by both domestic and foreign scholars. The geographic information and satellite navigation technology are the important components in the field of robot path planning. How to guarantee the accurate, reliable and real-time of path planning is a research focus in the field of robot. Nowadays Beidou is more and more widely applied in China. How to effectively combine the Beidou navigation into the robot's path planning is a focus study of this paper.Although map matching algorithm has not added much equipment cost, it can improve the positioning precision of Beidou navigation. Now it has been applied for the navigation system. In this paper, ST_Matching map matching algorithm will be used to correct the error for acquisition of the beidou navigation data. And then the improved ant colony algorithm is adopted to dynamic robot path planning. The main research works are as follows:First:Beidou receiver module is used to collect the co-ordinate data. ST_Matching map matching algorithm is used for data matching, several sections of matching experiment result is given in detail. The results show that the ST_Matching algorithm has high matching accuracy and good adaptability. ST_Matching algorithm can meet the requirements of map matching.Secondly:Since ant colony algorithm in robot path planning has slow convergence speed, it is easy to fall into local optimal solution. We design an ant colony algorithm with path evaluation and applied in dynamic path planning. Dijkstra algorithm get a next short path, then with the improved ant colony algorithm to avoid obstacles to find an optimal path. Finally, experiments show that the improved ant colony algorithm has better validity and reliability.