Research on robot optimal path planning method based on improved ant colony algorithm
by Hui Tian
International Journal of Computing Science and Mathematics (IJCSM), Vol. 13, No. 1, 2021

Abstract: To overcome the problem of poor convergence and obstacle avoidance when traditional methods are used to plan the optimal path of robot, a new optimal path planning method based on improved ant colony algorithm is proposed. Firstly, the odometer model, ultrasonic sensor model and robot motion model are constructed to obtain the environmental information and robot motion state information. Then, according to the adaptive transformation heuristic function of the target point and the principle of wolf swarm assignment, the pheromone is refreshed. On this basis, the core parameters of the improved ant colony algorithm are optimised by particle swarm algorithm, so as to complete the optimal path planning of the robot. The experimental results show that the overall mean value of collision avoidance of the proposed method is 0.97, and the planning performance is significantly better than that of similar planning methods, with considerable application value.

Online publication date: Tue, 13-Apr-2021

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Computing Science and Mathematics (IJCSM):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com