Abstract:
In the static grid map environment, aiming at the problems of traditional ant colony algorithm in robot global path planning, such as failing to find the shortest path, blind path search and many inflection points, an improved ant colony algorithm was proposed. On the basis of traditional forward search, reverse path search was added, that was, bidirectional path search. Different heuristic functions were used in each direction. The combination of the two increased the purpose of path search and the construction efficiency of solution.Path crossing for each generation of paths was helpful to generate new solutions and avoid falling into local optimization.The pheromone of the obtained effective path was updated to avoid the interference of the invalid path.The improved volatilization coefficient formula was adopted to dynamically adjust the volatilization coefficient and set the pheromone concentration range, which could avoid falling into premature maturity.The improved Bessel curve was used to optimize the above optimal path, and the degree of curve optimization could be adjusted according to the demand.Compared with other algorithms, the feasibility, effectiveness and superiority of the improved algorithm are verified.
