Research On Mobile Robot Path Planning Algorithm Based On Improved Ant Colony Algorithm

With the development of artificial intelligence,researchers keep trying to improve the intelligence of robots.Path planning is one of the important links in the research of mobile robot navigation technology,which involves multi-disciplinary technologies such as environment perception and data processing.At present,many algorithms have been proposed to solve the path planning problem,but there are still many problems to be solved.Therefore,the path planning algorithm needs to be further studied.Aiming at the problems that the traditional ant colony algorithm is prone to search stagnation and time-consuming planning,an improved ant colony algorithm is proposed.By improving the heuristic information of the algorithm,the cost of steering is added to reduce unnecessary turning.An adaptive parameter selection strategy is proposed to dynamically change parameter values,and enhance the comprehensiveness of the search.In terms of pheromone concentration,global pheromone update and pheromone volatilization factor intelligent adjustment strategy are adopted to accelerate the convergence of the algorithm.Finally,matlab simulation and experimental verification,the results the improved algorithm is superior to the conventional ant colony algorithm are carried out,and the results show that the improved algorithm is superior to the conventional ant colony algorithm,which verifies the feasibility and effectiveness of the improved algorithm.Secondly,aiming at the problem of dynamic obstacle avoidance,the improved ant colony algorithm is introduced into dynamic path planning.First the improved A*algorithm is used to plan a global optimal path in the environment map.When the mobile robot searches for dynamic obstacles in the process of moving forward,the improved ant colony algorithm is used to establish local target points,and after avoiding obstacles,the mobile robot continues to move along the globally optimal path.Simulation results show that the mobile robot can avoid the temporary addition of static and dynamic obstacles and reach the target point effectively.Finally,for the path planning problem of the robots in the three-dimensional environment,the three-dimensional space is divided into planes,and then each plane is rasterized,the pheromone is stored in the path node instead of the original path,pheromone storage space,and start searching in a hierarchical search mode.Improve the path heuristic information and build new heuristic functions.After each iteration,thepheromone is updated,and the simulation results show the effectiveness of the improved algorithm.