Smooth Path Planning Based on Improved A Ant Colony and Rolling Window Method

In order to solve the problems of deadlock, slow convergence, easy to get into local optimum and uneven path when ant colony algorithm is applied to the path planning of mobile robots, a smooth path planning method combining improved A* ant colony algorithm and the rolling window method is proposed....

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Bibliographic Details
Published inJisuanji kexue yu tansuo Vol. 15; no. 10; pp. 1969 - 1979
Main Author YIN Shaowei, PENG Li, DAI Feifei
Format Journal Article
LanguageChinese
Published Journal of Computer Engineering and Applications Beijing Co., Ltd., Science Press 01.10.2021
Subjects
a algorithm
ant colony optimization (aco)
bessel curve
dynamic obstacle avoidance
genetic algorithm (ga)
path planning
rolling window method
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Summary:In order to solve the problems of deadlock, slow convergence, easy to get into local optimum and uneven path when ant colony algorithm is applied to the path planning of mobile robots, a smooth path planning method combining improved A* ant colony algorithm and the rolling window method is proposed. Firstly, the improved A* algorithm is used to initialize the ant colony pheromone to solve the problem of low ant colony efficiency. Then, the state transition probability function is improved to consider the feasible path “activity” and the end position in the function to avoid deadlock phenomenon. At the same time, based on the mechanism of inequality principle, the pheromone of ant colony is updated to avoid falling into the local optimal path and accelerate the convergence speed of the algorithm. Secondly, based on the global path planning, local real-time path planning is carried out by integ-rating the rolling window method and the dynamic obstacle avoidance strategy. Finally, Bessel curve is used to process
ISSN:1673-9418
DOI:10.3778/j.issn.1673-9418.2011061