Path Planning Algorithm for Mobile Robot Based on Improved Ant Colony Algorithm

Abstract

Abstract Due to the influence of full traversal environment, the path length obtained by existing methods is too long. In order to improve the performance of path planning and obtain the optimal path, a full traversal path planning method for omnidirectional mobile robots based on ant colony algorithm is proposed. On the basis of the topology modeling schematic diagram, according to the position information of the mobile robot in the original coordinate system, a new environment model is established by using the Angle transformation. Considering the existing problems of ant colony algorithm, the decline coefficient is introduced into the heuristic function to update the local pheromone, and the volatility coefficient of the pheromone is adjusted by setting the iteration threshold. Finally, through the design of path planning process, the planning of omnidirectional mobile robot’s full traversal path is realized. Experimental results show that the proposed method can not only shorten the full traversal path length, but also shorten the time of path planning to obtain the optimal path, thus improving the performance of full traversal path planning of omnidirectional mobile robot.