Research On Foraging Path Planning Of Bionic Ant Colony Based On Infrared Pheromone Communication

In recent years,intelligent robots are widely used in production and life.A single robot is gradually unable to meet people's needs in terms of work efficiency,stability,and low cost.Related research in the field of multi-robot collaboration has emerged.The gregarious creatures in nature rely on the group intelligence emerging from self-organization collaboration to provide a new method for multi-robot collaboration to solve complex problems.Take the ant colony optimization algorithm evolved from the ant colony foraging behavior as an example.The ant colony optimization algorithm is a heuristic method that simulates the ant colony foraging process to find the shortest path from the nest to the food source.It was originally mainly used to solve the TSP shortest path problem,as the deepening of related research,there are constantly new optimization methods applied to the field of multi-robots.Therefore,after in-depth exploration of the ant colony foraging process,based on the comparison of chemical pheromones,a virtual infrared pheromone scheme is proposed,and a bionic ant colony system model is established,and a bionic ant colony robot experimental system is designed and verified through experiments.The feasibility and effectiveness of the virtual pheromone scheme in the problem of target search and path planning are built,and then a simulation environment based on the Java platform is constructed.In the simulation environment,the ant colony foraging path planning process is tested in several complex situations.Based on the ant colony behavior rules,the evolution model is further determined.Based on the rule behavior evolution,the characteristics,results,and application methods of ant colony foraging,clustering and other behaviors are revealed in the model to provide a theoretical basis.The specific research content includes the following aspects:(1)Imitate the ant foraging process,introduce pheromone mechanism in multi-robot path planning,on the basis of natural ant colony pheromone,put forward a target search scheme based on virtual pheromone,establish a bionics based on virtual pheromone The ant colony system model,and summarizes the robot related parameters and behavior rules.(2)For the proposed virtual pheromone system,a set of novel robot experiment platform was designed and manufactured.The infrared ray was used to transmit pheromone.On this experiment platform,a foraging path planning experiment was conducted,and the principle of division of labor and cooperation was introduced into group robot foraging.The system uses multiple robots to collaborate at the same time to improve search efficiency and verify the feasibility of the virtual pheromone solution.(3)For the complex obstacle environment,using open source Java platform simulation analysis,explored the impact of different obstacle conditions on the foraging behavior of ant colonies,and provided a basis for further summarizing and optimizing the foraging path planning scheme of the bionic ant colony.To the shortcomings of the pheromone-based ant colony foraging path planning scheme,prospects for future improvement methods.