Robot path planning method, device and equipment and storage medium

Abstract

The invention discloses a robot path planning method, device and equipment and a storage medium, and the method comprises the steps: S1, carrying out the modeling through employing a grid method, initializing each parameter in an improved ant colony algorithm, and obtaining the improved ant colony algorithm through building a new heuristic function and a pheromone updating formula; s2, placing each ant at a starting point, and selecting a next node by utilizing a roulette mode and combining a state transition probability calculation formula in an improved ant colony algorithm until the whole path is searched; s3, after path searching is completed, pheromone updating is conducted according to a pheromone updating formula; and S4, repeating the steps S2 to S3 until the maximum number of iterations is reached, screening out an optimal solution, and determining the shortest path of the robot. According to the method, the problem of poor path planning effect caused by low convergence rate and easiness in falling into a local optimal solution when an ant colony algorithm is adopted for path planning in the prior art can be solved.

Description

technical field [0001] The invention relates to the technical field of robot intelligent control, in particular to a robot path planning method, device, equipment and storage medium. Background technique [0002] Path planning technology is a key technology in the field of mobile robots. It is the guarantee for its autonomous movement to complete various tasks, and it is also the prerequisite for all mobile robots to conduct intelligent application research. In recent years, scholars at home and abroad have proposed a series of algorithms to be used in path planning research, mainly including ant colony algorithm, genetic algorithm, particle swarm algorithm, etc., but these algorithms have shortcomings, such as the slow convergence speed of ant colony algorithm And it is easy to fall into the defect of local optimal solution, which leads to the failure of the robot's path planning to achieve the desired effect. [0003] Thereby prior art still needs to improve and improve. ...

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Problems solved by technology

[0004] In view of the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a robot path planning method, device, equipment and storage medium, which can solve the problem of slow convergence speed and easy trapping in path planning using ant colony algorithm in the prior art. When the local optimal solution is obtained, the path planning effect is not good.

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