Title: Path selection for intelligent robot mobile obstacle avoidance based on variable step size ant colony algorithm

Authors: Qilong Li; Wei Zhang

Addresses: School of Intelligent Manufacturing, Jiangsu Food & Pharmaceutical Science College, Huai'an, 223023, China ' School of Electronic Information Engineering, Su'Zhou Vocational University, Su'Zhou, 215104, China

Abstract: In order to overcome the problems of poor performance, low obstacle avoidance success rate, and long time consumption in traditional intelligent robot obstacle avoidance path selection methods, a path selection method for intelligent robot mobile obstacle avoidance based on variable step size ant colony algorithm is proposed. Using laser radar to scan the environment of intelligent robots and obtain observation data, building a kinematic model and probability grid map of intelligent robots based on the observation data. Variable step size ant colony algorithm was combined with the kinematic model of intelligent robots in the probability grid map to achieve obstacle avoidance path selection during movement. The experimental results show that under the application of the proposed method, the intelligent robot did not collide during the movement process, the movement path was the shortest, the maximum obstacle avoidance success rate of the intelligent robot was 99.12%, and the minimum path selection time was 0.63 s.

Keywords: variable step size ant colony algorithm; intelligent robot; obstacle avoidance; path selection; probability grid map.

DOI: 10.1504/IJISTA.2025.151542

International Journal of Intelligent Systems Technologies and Applications, 2025 Vol.23 No.4, pp.363 - 379

Received: 08 Aug 2024
Accepted: 24 Sep 2024
Published online: 05 Feb 2026 *

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