Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm
The traditional ant colony algorithm in the process of mobile robot path planning,the algorithm is easy to fall into the local optimization problem when the convergence of the algorithm. Aiming at this problem,a new ant colony optimization for mobile robot path planning method is proposed. Firstly,t...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.012 |
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| author | Yu Yong |
| author_facet | Yu Yong |
| author_sort | Yu Yong |
| collection | DOAJ |
| description | The traditional ant colony algorithm in the process of mobile robot path planning,the algorithm is easy to fall into the local optimization problem when the convergence of the algorithm. Aiming at this problem,a new ant colony optimization for mobile robot path planning method is proposed. Firstly,the mathematical model of the robot path planning is established. Based on this,the traditional ant colony algorithm is improved,and the local robot path information is introduced into the initialization of ant colony pheromone and the probability of path selection,which improves the convergence speed of ant colony algorithm and prevents premature. By introducing the crossover operation and adjusting the parameters of the ant colony algorithm,the algorithm can avoid local optimization. The simulation results show that the proposed method can significantly improve the optimal path search capability,the overall performance is better than the traditional ant colony algorithm. |
| format | Article |
| id | doaj-art-61127de431ab45539413525690882498 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-61127de431ab455394135256908824982025-01-10T14:16:38ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140586129924908Research of the Path Planning of Mobile Robot based on Improved Ant Colony AlgorithmYu YongThe traditional ant colony algorithm in the process of mobile robot path planning,the algorithm is easy to fall into the local optimization problem when the convergence of the algorithm. Aiming at this problem,a new ant colony optimization for mobile robot path planning method is proposed. Firstly,the mathematical model of the robot path planning is established. Based on this,the traditional ant colony algorithm is improved,and the local robot path information is introduced into the initialization of ant colony pheromone and the probability of path selection,which improves the convergence speed of ant colony algorithm and prevents premature. By introducing the crossover operation and adjusting the parameters of the ant colony algorithm,the algorithm can avoid local optimization. The simulation results show that the proposed method can significantly improve the optimal path search capability,the overall performance is better than the traditional ant colony algorithm.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.012Mobile robot path planningNew ant colony algorithmMathematical modelConvergence speedLocal optimum |
| spellingShingle | Yu Yong Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm Jixie chuandong Mobile robot path planning New ant colony algorithm Mathematical model Convergence speed Local optimum |
| title | Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm |
| title_full | Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm |
| title_fullStr | Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm |
| title_full_unstemmed | Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm |
| title_short | Research of the Path Planning of Mobile Robot based on Improved Ant Colony Algorithm |
| title_sort | research of the path planning of mobile robot based on improved ant colony algorithm |
| topic | Mobile robot path planning New ant colony algorithm Mathematical model Convergence speed Local optimum |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.012 |
| work_keys_str_mv | AT yuyong researchofthepathplanningofmobilerobotbasedonimprovedantcolonyalgorithm |