关键词: 物料传输平台, 路径规划, 改进势场蚁群算法（IACSPF）, MATLAB

Abstract: An improved potential field ant colony algorithm is proposed for the path planning of material transfer sorting platforms to address problems of low convergence and local optimality of traditional ant colony algorithms and the unreachability of artificial potential field method. For global path planning, the distance between the next node position and the target point position at the time of material transmission and the dynamic weight factor are added to optimise the heuristic function, and a factor adaptive update strategy is used by considering the different importance of the pheromone heuristic factor, the distance expectation function factor, and the pheromone volatility factor at different moments. In the local path planning, the traditional artificial potential field method is improved by introducing the distance adjustment factor between  material and the target point and the fuzzy repulsion point. Finally, an IACSPF is designed by taking the inflection points in the global path as sub-target points in the local path, and a simulation is also carried out to analyse the path planning of the material transfer. Simulation?results show that the IACSPF can shorten the path length of the transmission by 13.1%, reduce the number of inflection points by 71.4%, and effectively avoid obstacles, thus verifying the rationality of the algorithm.

Key words: material transmission platform, path planning, improved ant colony system algorithm with potential field （IACSPF）, MATLAB