### Mobile Robot Path Planning Based on Adaptive Ant Colony Algorithm

FENG Shengfei, LEI Qi, WU Wenlie, SONG Yuchuan

1. 1.State Key Laboratory of Mechaical Transmission, Chongqing University, Chongqing 400030， China
2.China Shipbuilding Heavy Industry（Chongqing） Southwest Equipment Research Institute Co. Ltd. , Chongqing 401122, China
• Online:2019-09-01 Published:2019-08-30

### 自适应蚁群算法的移动机器人路径规划

1. 1.重庆大学 机械传动国家重点实验室，重庆 400030
2.中船重工（重庆）西南装备研究院有限公司，重庆 401122

Abstract: As for original ant colony algorithm using in mobile robot path planning, there are problems such as the convergence speed and searching ability existing unbalance, falling into local optimum easily and so on. In this paper, an adaptive improved ant colony algorithm is proposed. Firstly, in order to improve convergence speed of the algorithm, in the grid environment the initial pheromone is differentiate distributed according to the characteristics of the optimal path and the basic parameters of the actual environment. Secondly, in order to raise the efficiency of ants search, the turn-angle heuristic information is introduced into the state transition probability and the path heuristic information is improved. Thirdly, it reformulates the strategy of pheromone renewal, sets the iteration threshold, and the pheromone volatilization coefficients and pheromone concentration are adjusted, so that at the later stage of iteration, the algorithm still has a strong ability to search for the optimal solution. Finally, the piecewise third-order Besizer curve is used to smooth the optimal path to meet the actual motion requirements of the robot. The feasibility, effectiveness and superiority of the improved algorithm are verified by comparing with other algorithms.