Translated Title
Improved Ant Colony Algorithm for Mobile Robot with Multi-Directional and Multi-Layer Filling of U-Shaped Obstacles
Translated Abstract
Aiming at the typical deadlock problem of U-shaped obstacles when applying traditional ant colony algorithm in mobile robot path planning,an improved ant colony algorithm with multi-directional and multi-layer filling of U-shaped obstacles is proposed.Firstly,it is proved that the optimal solution of path planning will not enter the U-shaped obstacles;Secondly,it is proved that the multi-directional and multi-layer filling method can fill U-shaped obstacles to solve the deadlock problem without blocking the original path,which has the retention of the original path and has less filling iteration times and total iteration time;After that,the number of iterations of the filling graph is theoretically determined.This filling method is not only suitable for U-shaped obstacles,but also suitable for other filling areas,and it can completely fill the fillable areas;Finally,this filling method is combined with ant colony algorithm to realize mobile robot path planning.The simulation results show that the improved ant colony algorithm is more efficient than the traditional ant colony algorithm.
Translated Keyword
improved ant colony algorithm
mobile robot
multidirectional multilayer filling method
path planning
u-shaped obstacle
Access Number
WF:perioarticaljxkxyjs202404023
