Global path planning of robots based
on improved ant colony algorithm

Computer Engineering & Science

Global path planning of robots based

on improved ant colony algorithm

CAO Xin-liang1,WANG Zhi-wen2,3,FENG Jing1,ZHA Min1，WANG Yu-hang4

（1.School of Electrical and Information Engineering，Guangxi University of Science and Technology，Liuzhou 545006;

2.School of Computer Science and Telecommunication Engineering,Guangxi University of Science and Technology,Liuzhou 545006;

3.Guangxi Key Lab of Multi-source Information Mining & Security,Guangxi Normal University,Guilin 541004;

4.School of Computer Science and Information Engineering,Guangxi Normal University,Guilin 541004,China）

Received:2019-08-25 Revised:2019-11-04 Online:2020-03-25 Published:2020-03-25

Abstract

Abstract:

Aiming at the shortcomings of ant colony algorithm in robot path planning, this paper proposes a global path planning method of robots based on improved ant colony algorithm. This method delineates the preferred region in the grid map and establishes a new initial pheromone concentration setting model, differentiating the initial pheromone concentration at each point to avoid the blindness of optimization and improving the convergence speed of the algorithm. The experimental results show that the improved ant colony algorithm has significantly higher convergence rate than the traditional algorithm, verifying the effectiveness of the algorithm.

Key words: ant colony algorithm, robot, path planning, grid map, improved ant colony algorithm

CAO Xin-liang, WANG Zhi-wen, FENG Jing, ZHA Min, WANG Yu-hang.

Global path planning of robots based

on improved ant colony algorithm

[J]. Computer Engineering & Science.

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Global path planning of robots based

on improved ant colony algorithm

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