Path planning method based on improved ant colony algorithm
An ant colony algorithm and path planning technology, applied in navigation calculation tools, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problems of ants prone to stagnation, slow algorithm convergence speed, and long search time and other problems to achieve the effects of reducing blindness, improving operating efficiency, and ensuring convergence speed and
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[0034] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiment is a path method based on the improved ant colony algorithm, and its main flow chart is as follows figure 1 As shown, the specific steps are as follows.
[0035] Step1: Use the grid method to model the working environment of the robot. Set the working state space of the mobile robot as C, and use the grid method to model the working environment of the robot in MATLAB, where the white grid represents the feasible area of the robot, and the black grid represents obstacles, which represent the area that the robot cannot pass through. During the walking process of the robot, the obstacles are in a static state and their size is fixed. The size of the robot is the size of the unit grid. A Cartesian coordinate system is established in the grid environment. A grid represents a position node, and the grid is encoded from left to right...
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