A robot path planning method, device, equipment and storage medium

Abstract

The invention discloses a robot path planning method, device, equipment and storage medium. The method includes, for example: S1, using the grid method to model, and initializing the parameters in the improved ant colony algorithm, wherein, by establishing a new heuristic Function and pheromone update formula to obtain the improved ant colony algorithm; S2, place each ant on the starting point, use the roulette method and combine the state transition probability calculation formula in the improved ant colony algorithm to select the next node, until The entire path search is completed; S3. After the path search is completed, the pheromone is updated according to the pheromone update formula; S4. Steps S2 to S3 are repeated until the maximum number of iterations is reached, and the optimal solution is selected to determine the shortest path of the robot. The invention can solve the problem in the prior art that when the ant colony algorithm is used for path planning, the convergence speed is slow and it is easy to fall into a local optimal solution, resulting in poor path planning effect.

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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