Mobile Robot Path Planning Based on Angle-Guided Ant Colony Algorithm

作     者：Li, Yongsheng Huang, Yinjuan Ge, Lina Li, Xi 

作者机构：Guangxi Univ Nationalities Nanning Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF SWARM INTELLIGENCE RESEARCH》 (国际群智能研究杂志)

年 卷 期：2022年第13卷第1期

页      面：1-19页

核心收录：

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Natural Science Foundation of China Science Foundation Project [2018GXNSFAA138147] 

主　　题：Angle Guided Ant Colony Algorithm Chaos Genetic Algorithm Grid Method Mobile Robot Particle Swarm Optimization Path Planning Pheromone 

摘      要：Ant colony algorithm is easy to fall into local optimum, and its convergent speed is slow in solving mobile robot path planning. Therefore, an ant colony algorithm based on angle guide is proposed in this paper to solve the problems. In the choice of nodes, the authors integrate the angle factor into the heuristic information of the ant colony algorithm to guide the ants search direction and improve the search efficiency. The pheromone differential updating is carried out for different quality paths, and the pheromone chaotic disturbance updating mechanism is introduced. Then the algorithm can make full use of the better path information and maintain a better global search ability. According to simulations, its global search is strong, and it can range out of local optimum, and it is a fast convergence to the global optimum. The improved algorithm is feasible and effective.