Path Planning of Inspection Robot Based on Improved Ant Colony Algorithm

摘要

The conventional Ant Colony Optimization (ACO) algorithm, applied to logistics robot path planning in a two-dimensional grid environment, encounters several challenges: slow convergence rate, susceptibility to local optima, and an excessive number of turning points in the planned paths. To address these limitations, an improved ant colony algorithm has been developed. First, the heuristic function is enhanced by incorporating artificial potential field (APF) attraction, which introduces the influence of the target point’s attraction on the heuristic function. This modification accelerates convergence and improves the optimization performance of the algorithm. Second, an additional pheromone increment, calculated from the difference in pheromone levels between the best and worst paths of the previous generation, is introduced during the pheromone update process. This adjustment adaptively enhances the path length optimality. Lastly, a triangle pruning method is applied to eliminate unnecessary turning points, reducing the number of turns the logistics robot must execute and ensuring a more direct and efficient path. To validate the effectiveness of the improved algorithm, extensive simulation experiments were conducted in two grid-based environments of varying complexity. Several performance indicators were utilized to compare the conventional ACO algorithm, a previously improved version, and the newly proposed algorithm. MATLAB simulation results demonstrated that the improved ant colony algorithm significantly outperforms the other methods in terms of path length, number of iterations, and the reduction of inflection points, confirming its superiority in logistics robot path planning.