Mobile Robot Path Planning Base On Improved Multi-step Ant Colony Algorithm

With the development of robot technology,mobile robots are widely used in many occasions,such as exploration,aviation,transportation and entertainment.At present,the path planning for mobile robots is becoming intelligent and autonomous.A reasonable,effective and accurate path planning algorithm is one of the important parts in research field of mobile robots.Based on the analysis of current path planning algorithms,this paper studies the path planning on the mobile robot which is developed based on ROS(Robot Operating System).The main contents of the paper are list as follows:(1)After analyzing the current research status of the path planning algorithm,the ant colony optimization algorithm,which has a strong parallelism and strong robustness,is selected for the path planning of mobile robot.Considering the shortcomings of ant colony algorithm in convergence speed and global optimization,a path search strategy based on improved multi-step ant colony algorithm is designed.Firstly,the algorithm uses the route guidance search strategy to find Multi-step path.Secondly,the algorithm uses multi-strategy grid selection mechanism to select the next move.Finally,the security distance coefficient is added in the algorithm when it is used to judge whether the path connectivity is effective.Experiments results show that the designed algorithm reduces the path length and steps,meanwhile,the path smoothness and the algorithm convergence speed are improved.(2)In order to solve the problem of robot path planning in dynamic environment,a path planning method based on improved multi step ant colony algorithm and rolling window is designed.Firstly,the global path planning method is used to plan the global path in the static environment.Secondly,the local collision prediction and collision avoidance strategy are used in the rolling window based on global path.Therefore,the collision prediction and collision avoidance of dynamic obstacles are realized.(3)A three-wheeled mobile robot experimental platform based on ROS was built.The functions of autonomous moving and obstacle avoidance of the mobile robot are realized,and the effectiveness of the path planning algorithm designed in this paper is verified.