关键词: 移动机器人, 路径规划, 蚁群算法, 双向路径搜索, 障碍物有效顶点

Abstract:

Aiming at the problems of global path planning of robot in static environment, such as unable to find the shortest path, slow convergence speed, great blindness of path search and many inflection points, an improved bidirectional ant colony algorithm is proposed. Taking the grid map as the robot running environment, the effective vertices of obstacles are defined, coded and used. At the same time, combined with the two-way ant colony algorithm with the same effective vertices of obstacles as the encounter condition, the path search is carried out alternately in two directions, which can quickly find a shorter path and get fewer path inflection points. The introduction of improved state transition rules can speed up the search speed. An adjustable constant factor is introduced into the hair function, and each step is equivalent to one or more steps of the traditional algorithm when the effective vertex of the obstacle is taken as the node of path search. Dynamic adjustment of volatile coefficient and setting of pheromone concentration range can avoid falling into precocity. Compared with other algorithms, the feasibility, effectiveness and superiority of the improved algorithm are verified.

Key words: mobile robot, path planning, ant colony algorithm, bidirectional path search, effective vertex of obstacle