Robot path planning method based on improved ant colony algorithm

Abstract

An improved ant colony algorithm is provided according to the disadvantage of slow convergence and easy to fall into local optimal solution of traditional ant colony algorithm in robot route planning. The raster method is used to build the path matrix, and a corner heuristic function is established to increase the probability of selecting a specified path and improve the search speed of the algorithm. Combining A* algorithm with improved ant colony algorithm, an improved distance heuristic is proposed to avoid falling into local optimal solution. A pheromone volatile factor which can be changed according to the number of iterations was proposed to enhance the global search ability. Based on the related data analysis, the improved ant colony algorithm is better than Ant Colony Algorithm with Multiple Inspired Factor(ACAM )algorithm in resolving problems such as slow convergence rate and preventing entering local optimal solution.

Keywords

• improved ant colony algorithm
• robot
• grid method
• a* algorithm